LSIS XGT Series User Manual
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LSIS XGT Series User Manual

Standalone motion controller
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Table of Contents

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Right choice for ultimate yield
LSIS strives to maximize customers' profit in gratitude of choosing us for your partner.
Programmable Logic Controller
Standalone Motion Controller
XGT Series
Read this manual carefully before
installing, wiring, operating, servicing
or inspecting this equipment.
Keep this manual within easy reach
for quick reference.
User's Manual
XMC-E32A
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Summary of Contents for LSIS XGT Series

  • Page 1 Right choice for ultimate yield LSIS strives to maximize customers' profit in gratitude of choosing us for your partner. Programmable Logic Controller Standalone Motion Controller XGT Series User’s Manual XMC-E32A Read this manual carefully before  installing, wiring, operating, servicing or inspecting this equipment.
  • Page 2 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.
  • Page 3 Safety Instruction Safety Instructions for Design Process Warning  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.
  • Page 4 Safety Instruction Safety Instructions for Design Process Caution 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. Safety Instructions on Installation Process Caution  Use PLC only in the environment specified in PLC manual or general standard of data sheet.
  • Page 5 Safety Instruction Safety Instructions for Wiring Process Warning 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 ...
  • Page 6 Safety Instruction Safety Instructions for Test-Operation and Maintenance Warning  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. ...
  • Page 7 Safety Instruction Safety Instructions for Waste Disposal Caution Product or battery waste shall be processed as industrial waste. The waste may  discharge toxic materials or explode itself.
  • Page 8 Added LS_CrossSealCamGen function block 6-149~151 Revised TransitionMode about LS_MoveLinearTimeAbsolute and 6-160, 6-162 LS_MoveLinearTimeRelative Added error code (0x1124, 0x1170~0x1179) A 2-14, A2-16 ※ The number of User’s manual is indicated right part of the back cover. ⓒ LSIS Co., Ltd 2017 All Rights Reserved.
  • Page 9 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.

  • Page 10: Table Of Contents

    ◎ Table of Content ◎ Chapter 1 Overview ………………………….......………………...………………………………… 1-1 ~ 1-10 1.1 Characteristics ................................... 1 - 1 1.2 Signal Flow of Motion Controller ............................1 - 3 1.3 Function Overview of Motion Controller ........................... 1 - 4 1.3.1 Positioning Control ..............................1 - 4 1.3.2 Interpolation Control ..............................
  • Page 11 3.3.9 External Input Signal Wiring Example ........................3 - 21 3.3.10 External Output Signal Wiring Example ....................... 3 - 21 3.4 EMC ....................................3 - 22 3.4.1 EMC Standard ................................. 3 - 22 3.5 Fail Safe ..................................3 - 26 3.5.1 Fail Safe Circuit ................................
  • Page 12 Chapter 6 Motion Function Block ………………………..........………………………………… 6-1 ~ 6-207 6.1 Common Elements of Motion Function Blocks ........................ 6 - 1 6.1.1 The State of Axis ................................. 6 - 1 6.1.2 The state of Group ..............................6 - 3 6.1.3 Basic I/O Variable ............................... 6 - 4 6.1.4 BufferMode Input ................................
  • Page 13 6.4.6 Phase compensation (MC_Phasing) ........................6 - 79 6.5 Group Motion Function Blocks ............................6 - 81 6.5.1 Adds one axis to the group (MC_AddAxisToGroup) ..................... 6 - 81 6.5.2 Removes one axis from the group (MC_RemoveAxisFromGroup) ..............6 - 82 6.5.3 Removes all axes from the group (MC_UngroupAllAxes) ..................
  • Page 14 6.6.23 Read CAM table master position (LS_ReadCamTableMasterPos) ..............6 – 141 6.6.24 OnOff CAM Operation (LS_OnOffCam) ......................6 – 143 6.6.25 RotaryKnife cam profile generation (LS_RotaryKnifeCamGen) ................. 6 – 146 6.6.26 Cross sealer cam profile generation (LS_CrossSealCamGen) ................6 – 149 6.7 Coordinate System Operation Function Block ......................
  • Page 15 Chapter 7 Program …..…………………………......…....………………………………………… 7-1 ~ 7-45 7.1 Program Configuration ..............................7 - 1 7.1.1 Program Configuration ............................... 7 - 1 7.1.2 How to Set the Program ............................. 7 - 2 7.1.3 Run Time of the Program ............................7 - 4 7.2 Status Information Reading ...............................
  • Page 16 8.2.10 Axis Group Control Buffer Mode and Transition Mode ..................8 - 40 8.2.11 Synchronous Control ............................8 – 42 8.2.12 Manual Control ............................... 8 - 53 8.2.13 SuperImposed Operation ............................8 - 55 8.2.14 Phase Correction Control ............................8 - 57 8.3 Other Functions ................................
  • Page 17 9.4 NC Parameter ................................. 9 - 62 Chapter 10 CPU Function …………………......…....………………………………………… 10-1 ~ 10-45 10.1 Task Design .................................. 10 - 1 10.1.1 Task Overview ............................... 10 - 1 10.1.2 Task Specification ..............................10 - 2 10.1.3 Basic Operation of Task ............................10 - 2 10.1.4 Examples of Task Execution Sequence ......................
  • Page 18 10.12.1 Input Filter Function ............................10 – 41 10.12.2 Emergency Output Function ..........................10 - 43 10.13 Reading of Serial Number Information ........................10 - 44 Chapter 11 Datalog Function …………………......…....…………………………………… 11-1 ~ 11-103 11.1 Overview ..................................11 - 1 11.1.1 Features .................................
  • Page 19 11.8.2 File Name and Save Sequence .......................... 11 - 93 11.9 SD Memory Card ................................ 11 - 94 11.9.1 SD Memory Specifications ............................ 11 - 94 11.9.2 Caution ................................. 11 - 94 11.9.3 Micro SD Memory Usage Capacity ........................11 - 95 11.10 Flag List ..................................
  • Page 20 13.5.5 Hold Last Value Function ............................ 13 - 16 13.5.6 Alarm Function ..............................13 - 17 13.5.7 Setting Function of Channel Output Status ......................13 - 18 13.5.8 Interpolation Method Setting ..........................13 - 18 13.6 Wiring ..................................13 - 21 13.6.1 Example for Wiring Analog Input ........................
  • Page 21 Appendix 1 Flag List ……………………………………………………………………………………………………. A1-1 ~ A1-14 Appendix 2 Error Information & Solution ……………………………………………………………………………… A2-1 ~ A2-44 Appendix 3 Setting Example …………………………………………………………………………………………….A3-1 ~ A3-17 Appendix 4 Dimension …………………………………………………………………………………………………………… A4-1 Appendix 5 ESC (EtherCAT Slave Controller) Register ………..……………………………………………………… A5-1 ~ A5-4 Appendix 6 Using EtherCAT slaves from other companies ....................

  • Page 22: Chapter 1 Overview

    Chapter 1 Overview Chapter 1 Overview This user’s manual describes the standard of motion controller, installation method, the method to use each function, programming and the wiring with external equipment. 1.1 Characteristics The characteristics of motion controller are as follows. (1) Various motion control function It has various functions needed for motion control system such as position control, speed control etc.
  • Page 23 Chapter 1 Overview (3) Connection with the servo driver through EtherCAT (a) Direct connection to servo drives of up to 32 units and EtherCAT I/O of up to 64 units can be achieved through EtherCAT. (b) Since the connection between motion control module and servo drive is made using Ethernet cables. So wiring is simple.

  • Page 24: Signal Flow Of Motion Controller

    Chapter 1 Overview 1.2 Signal Flow of Motion Controller The flow of system using the motion controller is as follows. PLC/HMI Writing sequence Program Setting for control - Motion program - Operation parameter Encoder 1/2 - Cam data - Servo parameter XG5000 Digital I/O Motion Controller...

  • Page 25: Function Overview Of Motion Controller

    Chapter 1 Overview 1.3 Function Overview of Motion Controller Describe Representative functions of motion controller (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 motion function block.

  • Page 26: Positioning Control

    Chapter 1 Overview [ Example ] Starting Position : 5000 Goal Position : -7000 In this condition, it moves reversely and stops at -2000. 5000 -2000 Reverse positioning control(movement value -7000) Goal Position Starting Positon 1.3.2 Interpolation Control (1) Linear Interpolation Control Execute Linear interpolation control with designated axis at start position.
  • Page 27 Chapter 1 Overview (Y axis) Starting position 4000 Y axis movement value (1000-4000=-3000) Goal 1000 Position X axis 1000 5000 10000 X axis movement value (10000-1000=9000) (b) Linear Interpolation by incremental coordinates 1) Goal value becomes movement value. 2) Moving direction depends on movement value is positive or negative. a) Positive value (+ or 0) : Positioning operation with forward direction b) Negative value (-) : Positioning operation with reverse direction Y axis Forward direction...
  • Page 28 Chapter 1 Overview (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.
  • Page 29 Chapter 1 Overview 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. Forward Direction Operating by circular interpolation Center point of the circle Starting position...

  • Page 30: Speed Control

    Chapter 1 Overview (4) Helical Interpolation (a) Moves along the designated trace of circular arc depending on circular arc interpolation setting and executes Linear interpolation synchronously. (b) There is no limit to the combination of axes to be used in helical interpolation, and three axes from actual axis (1 axis to 32 axes) or virtual axis (37 axes to 40 axes) are used.

  • Page 31: Torque Control

    Chapter 1 Overview 1.3.4 Torque Control (1) The execution is made by the torque control command, and the operation is done in the set torque until the buffer command or stop command is entered. (2) Torque control includes forward operation and a reverse operation.. Forward operation: When direction input setting is ‘1-forward’...

  • Page 32: Chapter 2 Specification

    Chapter 2 Specification Chapter 2 Specification 2.1 General Specification The following table shows the general specification of XGT series. Related Item Specification specifications Ambient 0 ~ 55 °C temperature Storage −25 ~ +70 °C temperature Ambient 5 ~ 95%RH (Non-condensing)

  • Page 33: Power Specification

    Chapter 2 Specification 2.2 Power Specification The following table shows the power specifications of motion controller. Items Specification Remark Rated input voltage AC100V~AC240V Input frequency 50/60Hz 0.7A or less AC100V Input current 0.4A or less AC240V Input Inrush current 120Apeak or less AC240V, Phase 90 degree Leakage current 3mA or less...

  • Page 34: Performance Specification

    Chapter 2 Specification 2.3 Performance Specification The following table shows the Performance specifications of motion controller. 2.3.1 Function Specification Items Specification Main task/Periodic task: Fixed cyclic operation, reiterative operation Operation method Initial task: Only once at the time of entering the RUN Main task cyclic time: 0.5ms, 1ms, 2ms, 4ms Control cyclic Periodic task cyclic time: Multiple setting of main task...
  • Page 35 Chapter 2 Specification Items Specification Number of control axis 32 axes(Real/Virtual axis), 4 axes(Virtual axis), 64 Slaves(Included real/virtual axis) Communication EtherCAT (CoE: CANopen over EtherCAT, FoE: File Access over EtherCAT) Communication/Control 0.5ms, 1ms, 2ms, 4ms (Same with main task period) period Servo drive Servo drive to support EtherCAT CoE...
  • Page 36 Program back-up/Restoration, Booting operation, Data log Speed Auto/10Mbps/100Mbps, 1 port Distance 100m Loader service (XG5000) Ethernet LSIS protocol supported (XGT, Modbus TCP) Service FTP server: Reading/Writing function a file of SD memory from other device SNTP client Performance USB 2.0, 1 port Service...

  • Page 37: Communication Specification

    Chapter 2 Specification 2.3.2 Communication Specification Item Specification Communication protocol EtherCAT Support specification CoE(CANopen over EtherCAT) Physical layer 100BASE-TX Communication speed 100Mbps Topology Daisy Chain Communication cable Over Cat. 5 STP(Shielded Twisted-pair) cable Number of maximum slave 64(Able to mapping Max. 32 drive to motion axis) Communication period 0.5ms/1ms/2ms/4ms Synchronous Jitter...

  • Page 38: Internal Input/Output Specification

    Chapter 2 Specification 2.3.3 Internal input/Output Specification 1. Input specifications (source/sink type) Item Specification Input point 8 point Insulation method Photo-coupler insulation Rated input voltage Rated output voltage About 6mA Used voltage range DC20.4V~28.8V(within ripple rate 5%) On voltage/On current DC19V or more / 3mA or more Off voltage/Off current DC6V or less / 1mA or less...
  • Page 39 Chapter 2 Specification 2. Output specifications (sink type) Item Specification Output point 16 point Insulation method Photo-coupler insulation Rated load voltage DC 12V / 24V Used load voltage range DC10.2V~26.4V Maximum load current 0.5A /point, 2A/COM Off leakage current 0.1mA or less Maximum inrush current 4A / 10ms or less Maximum voltage drop(On)

  • Page 40: Encoder Input Specification

    Chapter 2 Specification 2.3.4 Encoder Input Specification Item Specification Input voltage 5V (3V ~ 6V) 2 ㎃~7.5 ㎃ Input current In accordance with RS-422A Line Driver Level Min. On guarantee voltage 2.5V Max. Off guarantee voltage 1.7V 1) Pulse width Over 2.5㎲...

  • Page 41: The Name Of Each Part

    Chapter 2 Specification 2.4 The Name of Each Part 2.4.1 The Name of Each Part ④ ⑤ ⑥⑨ ⑭ ⑫ ② ③ ① ⑦ ⑧ ⑩ ⑪ ⑬ Name Description ① Power terminal AC 110/220V power input, LG terminal, DC24V output Displays the motion controller’s operation mode.

  • Page 42: Specification Of Interface With External Device

    Chapter 2 Specification Name Description ⑥ USB port Port to access to XG5000 ⑦ Ethernet port Port to communicate Ethernet ⑧ EtherCAT port Port to communicate EtherCAT ⑨ Encoder input connector ⑩ Digital input connector ⑪ Digital output connector ⑫ Analoog input connecotr ⑬...
  • Page 43 Chapter 2 Specification Signal name Signal direction External Output signal 0 OUT0 Output signal 1 OUT1 Output signal 2 OUT2 Output signal 3 OUT3 Output signal 4 OUT4 Output signal 5 OUT5 Output signal 6 OUT6 OUT7 Output signal 7 Output Output signal 8 OUT8...
  • Page 44 Chapter 2 Specification 2. Encoder internal circuit Item Pin No. Signal *Note1 ENC1A+ ENC1A+ Encoder 1A+ input DC5V ENC1A- ENC1A- Encoder 1 A- input ENC1B+ ENC1B+ Encoder 1 B+ input ENC1B- ENC1B- Encoder 1 B- input *Note2 ENC2A+ ENC2A+ Encoder 2 A+ input ENC2A- ENC2A- Encoder 2 A- input...
  • Page 45 Chapter 2 Specification 3. Input internal circuit DC3.3V 내부회로 DC24V 4. Output internal circuit DC3.3V 내부회로 DC12/24V 2-14...

  • Page 46: Chapter 3 Operation Order And Installation

    Chapter 3 Operation Order and Installation Chapter 3 Operation Order and Installation 3.1 Operation Order Here describes the Operation order of motion controller. Start Specify motion control operation method and control unit Specify the number of axis to be connected Specify the servo type and capacity External emergency stop signal Install the XG5000 on the PC...

  • Page 47: Installation

    Chapter 3 Operation Order and Installation 3.2 Installation 3.2.1 Safety Precautions Danger  Please design protection circuit at the external of Contrller for entire system to operate safely because an abnormal output or a malfunction may cause accident when any error of external power or malfunction of Controller.
  • Page 48 Chapter 3 Operation Order and Installation Danger Don’t close the control line or communication cable to main circuit or power line. Distance should be more than 100mm. It may cause malfunction by noise. In case of controlling lamp load, heater, solenoid valve, etc. in case of Off -> On, large current (10 times of normal current) may flows, so consider changing the module to module that has margin at rated current.

  • Page 49: Installation Environment

    Chapter 3 Operation Order and Installation 3.2.2 Installation Environment This controller 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 (1) Install the control panel available for water-proof, anti-vibration.

  • Page 50: Attachment/Detachment Of Motion Controller

    Chapter 3 Operation Order and Installation 3.2.4 Attachment/Detachment of Motion Controller Remark Motion controller must be mounted to hook for fixation properly before its fixation. The Controller may be damaged from over-applied force. If module is not mounted properly, it may cause malfunction. ...
  • Page 51 Chapter 3 Operation Order and Installation (b) In case of installing at panel  You can install motion controller onto a panel directly using screw hole  Use M4 type screw to install the product onto a panel.  This product is designed so that PE and panel come in contact with each other through a screw at the bottom right of the product.
  • Page 52 Chapter 3 Operation Order and Installation (3) Controller equipment direction (a) For easy ventilation, install as shown below. (b) Don’t install as shown below.
  • Page 53 Chapter 3 Operation Order and Installation...
  • Page 54 Chapter 3 Operation Order and Installation (4) Distance with other device To avoid radiation noise or heat, keep the distance between motion controller and device (connector and relay) as far as the following figure. Device installed in front of motion controller: 100mm or more Device installed beside motion controller: 50mm or more 100mm or more 50mm or more...

  • Page 55: Notice In Wiring

    Chapter 3 Operation Order and Installation 3.3 Notices in Wiring 3.3.1 Notices in Wiring (1) The length of connecting cable between controller and drive machine shall be as short as possible. (Max. length: 2m and 10m). (2) For alternating current and external I/O signal of controller, it is required to use the separate cables to avoid the surge or induction noise generated from the alternating current.

  • Page 56: Power Wiring

    Chapter 3 Operation Order and Installation 3.3.2 Power Wiring (1) In case voltage regulation is larger than specified, connect constant voltage transformer. AC100V~240V Constant voltage transformer AC100~240V (2) Connect noise that includes small noise between line and earth. (When there is much noise, connect insulated transformer.) (3) Isolate the contorller power, I/O devices and power devices as follows.

  • Page 57: I/O Device Wiring

    Chapter 3 Operation Order and Installation (10)To prevent surge from lightning, use the lightning surge absorber as presented below. Controller I/O device Surge absorber to prevent lighting Note Isolate the grounding(E1) of lightning surge absorber from the grounding(E2) of the controller. Select a lightning surge absorber type so that the max.

  • Page 58: Ground(Lg) Wiring

    Chapter 3 Operation Order and Installation 3.3.4 Grounding(LG) Wiring (1) This controller has two types of grounding systems such as LG and PE. (2) LG ( ) is grounding for a power filter and used as a noise countermeasure. This controller performs sufficient noise countermeasures, but it is recommended to use LG if there is no specific reason.

  • Page 59: Specifications Of Wiring Cable

    Chapter 3 Operation Order and Installation 3.3.5 Specifications of Wiring Cable The specifications of cable used for wiring are as follows. Cable specification (mm Types of external connection Lower limit Upper limit Digital input 0.18 (AWG24) 1.5 (AWG16) Digital output 0.18 (AWG24) 1.5 (AWG16) Analogue I/O...

  • Page 60: Connection Example Of Servo Drive

    Chapter 3 Operation Order and Installation 3.3.6 Connection Example of Servo Drive (1) This is an example of wiring which connects EtherCAT servo drive/motor, XDL-L7NH Model of XGT Servo, in motion cotroller. Refer to manual of each drive for details on installation and wiring. Main OFF Main ON Power...
  • Page 61 Chapter 3 Operation Order and Installation 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 motion controller’s OUT and for other servo drivers, connect previous servo driver’s OUT to next servo driver’s IN.
  • Page 62 Chapter 3 Operation Order and Installation (2) This is wiring example connecting SanMotion R Advanced Model EtherCAT servo drive/motor to motion controller. For detail on installation and wiring, refer to the driver manual. Servo Motor SanMotion R Advanced Model *Note4 with EtherCAT Coe Interface Power AC 200~230V...
  • Page 63 Chapter 3 Operation Order and Installation (3) This is wiring example connecting BeckHoff AX2000 servo drive/motor to motion controller. For detail on installation and wiring, refer to the driver manual. AX2000-B110 EtherCAT Drive Servo Motor *Note4 Power AC 200~230V 50/60Hz BRAKE+ BRAKE- Encoder...

  • Page 64: Encoder Input (Dc5V Voltage Output) Wiring Example

    Chapter 3 Operation Order and Installation 3.3.7 Encoder Input (DC5V Voltage Output) Wiring Example When pulseulse generator is a voltage output type, wiring example of motion controller and encoder input part is as follows. In case pulse generator is totem-pole output and used as voltage output style, wiring is equal. XMC-E32A Twisted shielded cable OUTA...

  • Page 65: Encoder Input (Dc 5V Line Driver Output) Wiring Example

    Chapter 3 Operation Order and Installation 3.3.8 Encoder Input (5V Line Driver Output) Wiring Example XMC-E32A Twisted shielded cable OUTA+ A phase + OUTA- A phase - OUTB+ B phase + OUTB- B phase - 5 V DC Note Before Wiring, please consider maximum output distance of pulse generator. 3-20...

  • Page 66: External Input Signal Wiring Example

    Chapter 3 Operation Order and Installation 3.3.9 External Input Signal Wiring Example XMC-E32A External input point signal Internal circuit DC24V 3.3.10 External Output Signal Wiring Example XMC-E32A External output point signal Internal circuit DC12/24V 3-21...

  • Page 67: Emc

    The details of these precautions are based on the requirements and the applicable standards control. However, LSIS will not guarantee that the overall machinery manufactured according to the details conforms to the below-described directives. The method of conformance to the EMC directive and the judgment on whether or not the machinery conforms to the EMC Directive must be determined finally by the manufacturer of the machinery.
  • Page 68 Chapter 3 Operation Order and Installation (3) Control panel The motion controller is an open type device (device installed to another device) and must be installed in a control panel. This is needed to prevent electric shock by touching motion controller and reduce the motion controller-generated noise.
  • Page 69 Chapter 3 Operation Order and Installation 2) Connection of power and earth wires Earthing and power supply wires for the motion controller system must be connected as described below. ferrite core (a) Earth the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high frequencies.
  • Page 70 The described contents in this manual are based on the requirements and the applicable standards control. However, LSIS will not guarantee that the overall machinery manufactured according to the details conforms to the above regulation. The method of conformance to the EMC directive and the judgment on whether or not the machinery conforms to the EMC Directive must be determined finally by the manufacturer of the machinery.

  • Page 71: Fail Safe

    Chapter 3 Operation Order and Installation 3.5 Fail Safe 3.5.1 Fail Safe Circuit (1) Example of system design In case of AC In case of AC, DC 3-26...
  • Page 72 Chapter 3 Operation Order and Installation (2) Fail safe measures in case of motion controller failures Failures of the motio controller and memory are detected by self-diagnosis but if there are some problems with I/O control part, etc, the failure may not be detected from the motion controller. In this case, it can be different depending on the failure status, all contacts may be On or Off so normal operation or safety of the controlled subject cannot be guaranteed.

  • Page 73: Maintenance

    Chapter 3 Operation Order and Installation 3.6 Maintenance Be sure to perform daily and periodic maintenance and inspection in order to maintain the moiton controller in the best conditions. 3.6.1 Maintenance and Inspection The I/O module mainly consists of semiconductor devices and its service life is semi-permanent. However, periodic inspection is requested for ambient environment may cause damage to the devices.

  • Page 74: Periodic Inspection

    Chapter 3 Operation Order and Installation 3.6.3 Periodic Inspection Check the following items once or twice every six months, and perform corrective actions as needed. Check Items Checking Methods Judgment Corrective Actions 0 ~ 55 C Ambient temperature - Measure with Adjust to general standard Ambient Ambient Humidity...

  • Page 75: Troubleshooting

    Chapter 3 Operation Order and Installation 3.7 Troubleshooting The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation. 3.7.1 Basic Procedure of Troubleshooting System reliability not only depends on reliable equipment but also on short downtimes in the event of fault. The short discovery and corrective action are needed for speedy operation of system.
  • Page 76 Chapter 3 Operation Order and Installation (1) Troubleshooting flowchart used when the PWR (Power) LED turns Off The following flowchart explains corrective action procedure used when the power is supplied or the power LED turns Off during operation. Power LED is turned Off. Is the power supply Supply the power.
  • Page 77 Chapter 3 Operation Order and Installation (2) Troubleshooting flowchart used with when the ERR (Error) LED is flickering The following flowchart explains corrective action procedure used when the power is supplied starts or the ERR LED is flickering during operation.The following flowchart explains corrective action procedure used when the power is supplied or the power LED turns STOP LED goes flickering Check the error code, with...
  • Page 78 Chapter 3 Operation Order and Installation (3) Troubleshooting flowchart used with when the RUN, STOP LED turns Off. The following flowchart explains corrective action procedure to treat the lights-out of RUN LED when the power is supplied, operation starts or is in the process. RUN, STOP LED is Off.
  • Page 79 Chapter 3 Operation Order and Installation (4) Troubleshooting flowchart used when the I/O part doesn’t operate normally The following flowchart explains corrective action procedure used when the I/O module doesn’t operate normally. When the I/O module doesn’t work normally. Is the output LED of SOL1 On? Replace the connector of Measure the voltage of Correct wiring.
  • Page 80 Chapter 3 Operation Order and Installation Continue Are the indicator LED of the switch 1 and 2 on? Check voltage of switch 1,2 by Check voltage of switch 1,2 by tester tester Is the Is the measured Is the measured terminal screw tighten value normal? value normal?

  • Page 81: Troubleshooting Questionnaire

    Chapter 3 Operation Order and Installation 3.7.3 Troubleshooting Questionnaire If any problem occurs during the operation of motin controller, please write down this Questionnaire and contact the service center via telephone or facsimile.  For errors relating to special or communication modules, use the questionnaire included in the User’s manual of the unit. 1.

  • Page 82: Troubleshooting Example

    Chapter 3 Operation Order and Installation 3.7.4 Troubleshooting Example Possible troubles with various circuits and their corrective actions are explained. (1) Input circuit troubles and corrective actions The followings describe possible troubles with input circuits, as well as corrective actions. Cause Corrective Actions Condition...
  • Page 83 Chapter 3 Operation Order and Installation Condition Cause Corrective Actions  Sneak current due to the use of two Input  Use only one power supply. signal different power supplies.  Connect a sneak current prevention diode. doesn’t DC input turn off DC input ...
  • Page 84 Chapter 3 Operation Order and Installation Condition Cause Corrective Action  Leakage current by surge absorbing circuit,  Connect C and R across the load, which are of The load doesn’t turn off registers of tens KΩ. When the wiring distance from which is connected to output element in parallel.
  • Page 85 Chapter 3 Operation Order and Installation Condition Cause Corrective actions  Over current at off state [The large solenoid  Insert a small L/R magnetic contact and drive the load The load off response current fluidic load (L/R is large) such as is using the same contact.

  • Page 86: Chapter 4 Motion Control Operation

    Chapter 4 Motion Control Operation Chapter 4 Motion Control Operation This chapter describes structure, parameter and device of motion controller. Structure of Motion Controller This picture describes process of parameter and operation data saved in the controller. XG5000 【 XMC-E32A 】 XG5000 I/F Internal buffer Motion/NC...

  • Page 87: Configuration Of Motion Control

    Chapter 4 Motion Control Operation 4.2 Configuration of Motion Control Motion controller can control up to 32 axes of actual motor axis and 4 virtual axes through EtherCAT. Among 32 axes, you can control the axes that are not connected to the slave by setting them as virtual axes and 4 axes are provided for the virtual axes only.

  • Page 88: Motion Control Tasks

    Chapter 4 Motion Control Operation Motion Control Tasks The following describes tasks of the motion controller. 4.3.1 Types of Tasks There are 3 types of motion control tasks: main task, periodic task and initialization task. The main task completes the motion within the period set by the user, and it performs I/O refresh, program process, motion control and processes EtherCAT synchronous communication.

  • Page 89: Task Operation

    Chapter 4 Motion Control Operation Note If the main task cycle is set outside the setting range, an error 0x0260 occurs. If the periodic task cycle is not set to the multiple of the main task, an error 0x0261 occurs. If the error occurs, check the task cycle.
  • Page 90 Chapter 4 Motion Control Operation (2) Performance time of main task > Main task period History Periodic error History Periodic Periodic warning warning Main task period Main task period Main task period Main task period ERROR Processing Motion Motion Processing program refresh program control...
  • Page 91 Chapter 4 Motion Control Operation 4. Initialization task operation The initialization task is a task performed only once at the beginning when motion controller is entering the RUN mode. It is mainly used to set the initial data of the system and the parameter. The initialization task must be also performed in the set task period like the main task, and an error will occur if the performance of the initialization task exceeds the set period of the main task, and it is changed to stop state.

  • Page 92: Execution Of Motion Commands

    Chapter 4 Motion Control Operation 4.3.3 Execution of Motion Commands 1. Execution of motion commands in the main task Execution of motion instruction of the main task is shown in the figure below. The input value of the slave and the system parameters are updated by the I/O refresh motion of the main task, and based on this information, the program is processed and motion control motion is performed.

  • Page 93: Ethercat Communication

    Chapter 4 Motion Control Operation EtherCAT Communication The communication of EtherCAT(Ethernet for Control Automation Technology) is explained here. 4.4.1 What is EtherCAT EtherCAT is a high-performance industrial network system which uses Real-Time Ethernet based on the Ethernet developed by Beckhoff Company in Germany. EhterCAT is a communication between the master and the slave, and it provides a short communication cycle time by transmitting Ethernet Frame at a high speed between each nodes.

  • Page 94: Ethercat State Machine

    Chapter 4 Motion Control Operation Types of communication Communication time Contents Process Data Communication Synchronous servo drive position control data, input/output (PDO Communication) (main task period) of data, etc. Service Data Communication Asynchronous servo parameter reading/writing, servo error (SDO Communication) (in request) information reading, etc.

  • Page 95: Ethercat Process Data Objective(Pdo)

    Chapter 4 Motion Control Operation 4.4.4 EtherCAT Process Data Objective(PDO) The synchronous data communication in EtherCAT communication of motion controller occurs through process data object (PDO). There are two types of process data: TxPDO which is transmitted from the slave to motion controller, and RxPDO which is transmitted from motion controller to the slave.

  • Page 96: Specification Of Motion Controller Ethercat Communication

    Chapter 4 Motion Control Operation 4.4.5 Specification of Motion Controller EtherCAT Communication Item Specification Communication protocol EtherCAT Support specification CoE(CANopen over EtherCAT) Physical layer 100BASE-TX Communication speed 100Mbps Topology Daisy Chain Communication cable Over Cat. 5 STP(Shielded Twisted-pair) cable Number of maximum slave 64(Able to mapping Max.

  • Page 97: Motion Control Program

    Chapter 4 Motion Control Operation Motion Control Program 4.5.1 Program Execution 1. Configuration of the program Motion control program is composed of functional elements needed in performing certain controls and it is performed in the internal RAM of motion controller. The program is backed up in the flash memory. Programs with these functional elements are classified as follows.
  • Page 98 Chapter 4 Motion Control Operation 3. Change in operation modes Operation mode of motion controller can be changed as follows. Operation Mode Remarks In RUN Motion controller performs program. STOP  RUN Motion controller changes from STOP mode to RUN mode. STOP ...

  • Page 99: Chapter 5 Memory And Parameter

    Chapter 5 Memory and Parameter Chapter 5 Memory and Parameter 5.1 Memory 5.1.1 Program and Data Memory 1. Memory for the program The configuration of the memory related to the program embedded in the motion controller is as follows. Type Size Description Parameter...

  • Page 100: Device

    Chapter 5 Memory and Parameter 5.1.2 Device 1. Types of devices Types of device supported in motion control module are shown in the Table below. Type Size Description Automatic variable area Automatic variable (A) 4,096KB (able to set 2,408KB of retain) Internal device area Direct variable (G) 2,048KB...
  • Page 101 Chapter 5 Memory and Parameter %I[size prefix]n1.n2.n3 Number Description Size prefix X(1 bit), B(1 byte), W(1 word), D(1 double word), L(1 long word) 0~127 block assigned 0~15 block assigned 64 bit assigned. n3 data based on [size prefix] Example) %IW64 = %IB128 = %IW1.0.0 = %IB1.0.0, %IW1 = %IB2 = %IW0.0.1 = %IB0.0.2 (d) Device depending on the input variable expression is assigned as follows.
  • Page 102 Chapter 5 Memory and Parameter (d) Device depending on the output variable expression is assigned as follows. Device Description %QX0 Built-in digital output 0 %QX1 Built-in digital output 1 %QX2 Built-in digital output 2 %QX3 Built-in digital output 3 %QX4 Built-in digital output 4 %QX5 Built-in digital output 5...
  • Page 103 Chapter 5 Memory and Parameter Variable Type Device Description _01_AD0_FILTCONST WORD %UW0.1.15 Channel 0 Filter constant Channel 0 Hold effective conversion value _01_AD0_HOLDVAL BOOL %UX0.1.320 setting _01_AD0_HOOR BOOL %UX0.1.48 Channel 0 Alarm (Upper limit) _01_AD0_IDD BOOL %UX0.1.72 Channel 0 Input disconnection flag _01_AD0_LOOR BOOL %UX0.1.56...
  • Page 104 Chapter 5 Memory and Parameter Built-in analog output Variable Type Device Description _01_DA0_ACT BOOL %UX0.1.24 Channel 0(Voltage) Active _01_DA0_DATA WORD %UW0.1.8 Channel 0(Voltage) Input data _01_DA0_DATATYPE BYTE %UB0.1.28 Channel 0(Voltage) Input data type _01_DA0_ERR BOOL %UX0.1.40 Channel 0(Voltage) Error _01_DA0_INTP BOOL %UX0.1.64 Channel 0(Voltage) Interpolation enabled...
  • Page 105 Chapter 5 Memory and Parameter Built-in analog common Variable Type Device Description _01_ERR BOOL %UX0.1.0 Motion controller error _01_RDY BOOL %UX0.1.15 Motion controller ready _01_SETTINGERR WORD %UW0.1.27 Setting error information (6) Special variable (a) These variables are assigned to the SD memory, data log and embedded encoder flag area. (b) The built-in encoder input is 2 channels.

  • Page 106: Parameter

    Chapter 5 Memory and Parameter 5.1.3 Parameter 1. Basic parameter Explain Basic parameter of the motion control module. (1) Basic motion setting (a) Main task cycle - Set the motion period of the main task. The period can be set by selecting one in 0.5ms/1ms/2ms/4ms. - Set the control time of performing in the main task of motion controller considering the execution time of program.
  • Page 107 Chapter 5 Memory and Parameter (e) Task program occupancy rate warning - If the task program occupancy rate exceeds the set value because there are many main task programs or periodic task programs, the task program occupancy rate warning occurs. It can be set in the range of 50~95%. If the task program occupancy rate exceeds 100%, the task program occupancy rate error occurs, and it changes to the ERROR state.
  • Page 108 Chapter 5 Memory and Parameter 2. I/O Parameter (1) Built-in input/output setting (a) Input filter function The built-in input part of the motion controller has an input filter function to prevent the external noise signal flowing into the input signal. In environments where there is a lot of noise or in the case of the equipment where the pulse width of the input signal acts as an important factor, the system may be subjected to incorrect input depending on the state of the input signal.
  • Page 109 Chapter 5 Memory and Parameter The following shows the timing diagram of the input filter function. Input time constant (Filter time) Input signal Input image data Time Input signal Input image data Pulses shorter than the input time constant are not regarded as input signals (b) Emergency output function The built-in output part of the motion controller provides the emergency output function to determine whether the output state is maintained or cleared when the operation is stopped due to errors.
  • Page 110 Chapter 5 Memory and Parameter Item Description Settings Initialize value 0: CW/CCW (x1) 1: PULSE/DIR (x1) Set the input mode in accordance with the 2: PULSE/DIR (x2) Encoder1 Pulse input 3: PHASE A/B (x1) output shape of encoder. 3: PHASE A/B (x1) 4: PHASE A/B (x2) 5: PHASE A/B (x4) Encoder1 Max.
  • Page 111 Chapter 5 Memory and Parameter Item Description Settings Initialize value 0: No use 1: 500kPPS 2: 200kPPS Limit the frequency of pulse input to Encoder2 input filter value 3. 100kPPS 0: No use encoder. 4: 10kPPS 5: 1kPPS 6: 0.2kPPS Encoder2 position filter time Set the time constant (in hours) of the filter to 0 ~ 1000...
  • Page 112 Chapter 5 Memory and Parameter [Setting Example] When the machine which is moved by ball screw is connected to the encoder with gear, the setting of the encoder unit / Encoder Pulses per rotation / Encoder Travel per rotation is as follows. ·...
  • Page 113 Chapter 5 Memory and Parameter 1) CW/CCW (x1) Count operation is performed when A phase input pulse increases or B phase input pulse increases; and adding operation is performed when A phase input pulse increases in the Low input of B phase input pulse; and subtraction operation is performed when B phase input pulse increases in the Low input of A phase input pulse.
  • Page 114 Chapter 5 Memory and Parameter Add/Subtraction A phase input pulse High A phase input pulse Low B phase input pulse Off Add count Add count B phase input pulse On Subtraction count Subtraction count 4) PHASE A/B (x1) Add operation is performed in case of the increase in A phase pulse when the phase of A phase input pulse is ahead of B phase input pulse, and subtraction operation is performed in case of the decrease in A phase pulse when the phase of B phase input pulse is ahead.
  • Page 115 Chapter 5 Memory and Parameter 6) PHASE A/B (x4) Count operation is performed in case of the increase/decrease in A phase input pulse and the increase/decrease in B phase; and add operation is performed when the phase of A phase is input ahead of B phase; and subtraction operation is performed when the phase of B phase is input ahead of A phase.
  • Page 116 Chapter 5 Memory and Parameter Encoder speed unit This is used to set the speed display unit of the encoder and sets the reference unit of the speed value. When set to '0: Unit/sec', it is applied as the rate of change per second of the unit position set in ‘Unit’ parameter. For example, if the ‘Unit’...
  • Page 117 Chapter 5 Memory and Parameter 1) Position filter time constant = 0 ms 2) Position filter time constant = 1,000 ms 5-19...
  • Page 118 Chapter 5 Memory and Parameter 4. EtherCAT parameter It describes the items related to EtherCAT network settings. When modifying the EtherCAT parameters, make sure to write the EtherCAT parameters in the Project Write menu. (1) Master It sets the master functions related to the EtherCAT slave connection when connecting to the network. The items for master setting are as follows.
  • Page 119 Chapter 5 Memory and Parameter The operations according to the set values are as follows. - ‘0: Do not check’ The communication connection process is continued without comparing the serial number information set in the slave parameter and the one in the connected slave. - ‘1: Check’...
  • Page 120 Chapter 5 Memory and Parameter If you want to register the variable name and use it in the program, you can register the variable to be used in the program by selecting "Register Variable". (1) Slave (a) General information Check the information of EtherCAT slave to be used for network connection. It can be identified on the Slave Information tab displayed after executing ‘Open’...
  • Page 121 Chapter 5 Memory and Parameter 1) Slave Name It selects the slave to be connected to the motion control module and displays the name of the selected slave. L7NH servo drive is selected as the initial value when adding the slave to the slave data. When selecting the slave, the slave information is retrieved from the XML file in the folder below to display the available list.
  • Page 122 Chapter 5 Memory and Parameter (b) PDO settings RxPDO sets the synchronous data which is transmitted from the motion controller to the slave in every communication cycle. The RxPDO items supported by the relevant slave are automatically set when selecting the slave. You can use the ‘Edit’ function to add or delete objects you want.
  • Page 123 Chapter 5 Memory and Parameter (d) ‘Start’ command - It is the function to set the specific object during transition of the slave during EtherCAT connecting operation. - It is used for initialization of the slave parameters as well as slave Rx and TxPDO address assignment and item settings. - It is provided up to 50 per a slave.
  • Page 124 Chapter 5 Memory and Parameter The axes can be set to "Slave", "Virtual axis", "Disabled". The axis that is set to ‘Disabled’ is not included in the axis parameters. (2) Axis parameter (a) Basic setting Basic parameter among basic settings is explained as follows. Item Description Settings...
  • Page 125 Chapter 5 Memory and Parameter 1) Unit This is used to set the command unit during motion control, and depending on the control target, the unit of pulse, mm, inch, and degree can be set for each axis. When changing the setting of the unit, other parameters or variable values are not changed. Therefore, when changing the units, the relevant parameters must be reset so that they can be adjusted to the setting range of the relevant unit.
  • Page 126 Chapter 5 Memory and Parameter 6) Emergency stop deceleration Deceleration in the event of a sudden stop sets the deceleration for situations where a sudden stop needs to be made while operating the axis due to internal or external factors. Conditions for a emergency stop are as follows.
  • Page 127 Chapter 5 Memory and Parameter Note If [Unit]is set to ‘0: pulse’ in the above [Setting example], it will move to the position corresponding to the number of encoder pulses without regards to the motor side gear ratio or machine side gear ratio. That is, the instructions of 524,288 * 7/5 = 734,003 pulse should be issued in order to move 10mm.
  • Page 128 Chapter 5 Memory and Parameter (b) Extended parameter The following explains extended parameter of operation parameter Item Description Settings Initial value S/W upper limit 2147483647 pls Set the range of the software limit functions. Long real(LREAL) S/W lower limit -2147483648 pls Set the value of the repetitive position range Long real(LREAL) Positive Infinite running repeat position...
  • Page 129 Chapter 5 Memory and Parameter 1) Software upper limit / Software lower limit This is a function which sets the available range of the movement of the machine in the way of software by setting the upper limit & lower limit and allows the machine not to be operated beyond the set range. In other words, this is used to prevent a breakaway due to an error from setting the operation position and false operation that occurs from the user program error.
  • Page 130 Chapter 5 Memory and Parameter 4) Command inposition range This item sets the distance to the target position where inposition flag (_AXxx_INPOS) is On. When starting up the motion control, the in-position flag (_AXxx_INPOS) is Off, and it is On when the current position goes inside the「Command inposition range」from the target position.
  • Page 131 Chapter 5 Memory and Parameter When it is not in operation and if the difference of the command position and the current position is within the amount of compensation in displaying current position, the current position value is displayed as a command position value. When it is in operation, Current position compensation amount is not reflected, and the actual position value is displayed.
  • Page 132 Chapter 5 Memory and Parameter ③ Current position compensation amount = 100 pls If the current position value is within ±100 of command position after the end of operation, it is displayed as the command position value. 8) Current speed filter time constant Set the time to calculate the average of movement at current speed.
  • Page 133 Chapter 5 Memory and Parameter ② Current speed filter time constant = 50 ms ③ Current speed filter time constant = 100 ms 9) Error reset monitoring time Set the monitoring time in the event of error reset occurred in the servo drive. (unit: ms) If the error which occurred in the servo drive within the error reset monitoring time, error reset monitoring is terminated and error reset time out error of servo drive (error code: 0x1070) is occurred.
  • Page 134 Chapter 5 Memory and Parameter Even when the parameter value is set to '1: detect', if the software upper limit/lower limit is set to the initial value (upper limit: 2,147,483,647, lower limit: -2,147,483,648) or the same value, software limit is not detected. 11) JOG high speed / JOG low speed Jog speed is related to the speed when operating jog which is a type of manual operation.
  • Page 135 Chapter 5 Memory and Parameter 6. Axis group parameter (1) Basic setting Basic setting item is explained as follows. Item Description Settings Initial value None, Configuration Set the axis which form axis group. 1Axis ~ 32Axis(Real/Virtual axis), None Axis1~10 33Axis ~ 36Axis(Virtual axis) Interpolation Set max speed of operation about axis group.
  • Page 136 Chapter 5 Memory and Parameter (a) XYZ XYZ is a robot where the axis set in 「axis setting 1」in X-axis, the axis set in 「axis setting2」in Y-axis, and the axis set in 「axis setting 3」in Z-axis make a one-to-one correspondence and move in Cartesian coordinate. If the type of coordinate system is set to XYZ, there is no need to set the coordinate system parameters.
  • Page 137 Chapter 5 Memory and Parameter (3) Tool setting Tool setting item is explained as follows. Item Description Settings Initial value X axis offset Set the X axis offset at the end(tool) of robot Long real(LREAL) Y axis offset Set the Y axis offset at the end(tool) of robot Long real(LREAL) Z axis offset Set the Z axis offset at the end(tool) of robot...
  • Page 138 Chapter 5 Memory and Parameter (b) Cylinder Parameter Description Work space parameter1 Radius(mm) Z Axis Radius Work space parameter2 Z min(mm) Work space parameter3 Z max(mm) X Axis (c) Delta Parameter Description Z Axis YAxis Work space parameter1 Zu(mm) Work space parameter2 Hcy(mm) Work space parameter3 Hco(mm)
  • Page 139 Chapter 5 Memory and Parameter (5) PCS setting PCS setting item is explained as follows. The PCS parameter sets the origin of the workpiece to PCS to facilitate the operation of moving over a specific workpiece in the coordinate system operation. In the PCS coordinate system operation, the coordinate system operation is performed with the set PCS as the origin.

  • Page 140: Chapter 6 Motion Function Block

    Chapter 6 Motion Function Blocks Chapter 6 Motion Function Block This chapter describes the basic function block library mentioned in the previous chapter and other application function block library. 6.1 Common Elements of Motion Function Blocks 6.1.1 The State of Axis Each axis in the motion controller is changed to the relevant state depending on the situation and command.
  • Page 141 Chapter 6 Motion Function Blocks The state of axis Description Disabled state indicates the state in which no command is given to a single axis, and no error occurs. In case there is no motion controller at the time of first operation, each axis begins in the disabled state.

  • Page 142: The State Of Group

    Chapter 6 Motion Function Blocks 6.1.2 The State of Group Each group in motion controller is changed to the relevant state depending on the situation and command. The changing structure of each state is shown in the figure below. MC_GroupHalt GroupMoving MC_GroupStop Error...

  • Page 143: Basic I/O Variable

    Chapter 6 Motion Function Blocks 6.1.3 Basic I/O Variable 1. Edge operation motion function block Relationships of the basic I/O parameter in the Edge operation motion function block are as below. Execute Busy Active Done Error CommandAborted Variable Description This is an input to run the relevant function block in Edge operation function block. Function Execute block is executed in the rising Edge.
  • Page 144 Chapter 6 Motion Function Blocks Variable Description This outputs error code regarding the relevant error when an error occurs while running ErrorID motion function block. ErrorID output and elimination time are same with Error output. This indicates the relevant motion function block is interrupted by the other motion function CommandAborted block.
  • Page 145 Chapter 6 Motion Function Blocks Variable Description This is an output to indicate an error occurs while running motion function block. If an error which cannot be automatically restored occurs while motion function block is in operation, Error output is On, Busy & Valid output is Off (Figure d state), and motion function block stops operating.

  • Page 146: Buffermode Input

    Chapter 6 Motion Function Blocks 6.1.4 BufferMode Input This is an input which can specify whether to wait until the existing command is completed or to cancel the existing motion function block and execute the command in case the axis is already running other motion function block when running motion function block in a certain axis.

  • Page 147: Group Operation Route Change Settings

    Chapter 6 Motion Function Blocks (5) For MC_CAMIN function block, only the following inputs can be updated: MasterOffset, SlaveOffset, MasterScaling, SlaveScaling, MasterStartDistance, and MasterSyncPosition(If InSync=On, only MasterOffset, SlaveOffset, MasterScaling, and SlaveScaling are updated. ) (6) For MC_GEARIN function block, only the following inputs can be updated: RatioNumerator, RatioDenominator, Acceleration, and Deceleration (If InGear=On, only RatioNumerator and RatioDenominator are updated.) 6.1.6 Group Operation Route Change Settings When the axis group of the current motion controller is executing a command, other command can be issued to the relevant axis...
  • Page 148 Chapter 6 Motion Function Blocks The Figure below shows that the case when running BufferMode of motion function block in the setting of ‘Buffered’. The Figure in the left shows that motion function block ② is executed in the setting of 'Buffered’ while motion function block ① is running. Motion function block ②...

  • Page 149: Motion Function Block Errors

    Chapter 6 Motion Function Blocks 6.1.7 Motion Function Block Errors Errors occurring in ErrorID variable of motion function block are as follows. STAT Content Detailed Description In case motion function block is normally executed, “O” is 0x0000 Normal displayed on ErrorID. The motion function block is not executed in the version of The current motion controller does not support the 0x0005...

  • Page 150: Motion Function Block

    Chapter 6 Motion Function Blocks 6.2 Motion Function Block Operation Name Description condition Single-axis command MC_Power Servo On/Off Level MC_Home Perform the search home Edge MC_Stop Stop immediately Edge MC_Halt Stop Edge MC_MoveAbsolute Absolute positioning operation Edge MC_MoveRelative Relative positioning operation Edge MC_MoveAdditive Additive positioning operation...
  • Page 151 Chapter 6 Motion Function Blocks Operation Name Description condition Group command MC_AddAxisToGroup Adds one axis to the group Edge MC_RemoveAxisFromGroup Removes one axis from the group Edge MC_UngroupAllAxes Removes all axes from the group Edge Changes the state for group from GroupDisable to MC_GroupEnable Edge GroupEnable...
  • Page 152 Chapter 6 Motion Function Blocks Operation Name Description condition Coordinate system command MC_SetKinTransform Machine information setting Edge MC_SetCartesianTransform PCS setting Edge LS_SetWorkSpaceTransform Work space setting Edge Time- linear interpolation operation for absolute position LS_MoveLinearTimeAbsolute Edge of coordinate system Time- linear interpolation operation for relative position of LS_MoveLinearTimeRelative Edge coordinate system...

  • Page 153: Single-Axis Motion Function Blocks

    Chapter 6 Motion Function Blocks 6.3 Single-Axis Motion Function Block 6.3.1 Servo On/Off (MC_Power) Motion Function Block MC_Power BOOL Enable Status BOOL UINT Axis Axis UINT Vaild BOOL Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Enable...

  • Page 154: Perform The Search Home (Mc_Home)

    Chapter 6 Motion Function Blocks 6.3.2 Perform the search home (MC_Home) Motion Function Block MC_Home BOOL Execute Done BOOL UINT Axis Axis UINT LREAL Position Busy BOOL UINT BufferMode Active BOOL CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL...
  • Page 155 Chapter 6 Motion Function Blocks (a) Function block setting (b) Parameter setting - Set the Homing method in SDO parameters to 33. (c) Timing diagram Position Velocity 6-16...

  • Page 156: Stop Immediately (Mc_Stop)

    Chapter 6 Motion Function Blocks 6.3.3 Stop immediately (MC_Stop) Motion Function Block MC_Stop BOOL Execute Done BOOL UINT Axis Axis UINT LREAL Deceleration Busy BOOL LREAL Jerk CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Execute...

  • Page 157: Stop (Mc_Halt)

    Chapter 6 Motion Function Blocks 6.3.4 Stop (MC_Halt) Motion Function Block MC_Halt BOOL Execute Done BOOL UINT Axis Axis UINT LREAL Deceleration Busy BOOL LREAL Jerk Active BOOL UINT BufferMode CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Execute...

  • Page 158: Absolute Positioning Operation (Mc_Moveabsolute)

    Chapter 6 Motion Function Blocks 6.3.5 Absolute positioning operation (MC_MoveAbsolute) Motion Function Block MC_MoveAbsolute Done BOOL Execute BOOL Axis UINT Axis UINT BOOL ContinuousUpdate Busy BOOL Active LREAL Position BOOL LREAL Velocity CommandAborted BOOL Error LREAL Acceleration BOOL LREAL Deceleration ErrorID WORD LREAL...
  • Page 159 Chapter 6 Motion Function Blocks 0x1017” occurs in case of excess of the range. (3) On condition that there is no motion function block is on standby after the current motion function block, If the speed is 0 after reaching the target point, operation is completed and Done output is On. (4) The axis is in 'DiscreteMotion' state while this motion function block is running, and it is switched to 'Standstill' state when operation is completed.
  • Page 160 Chapter 6 Motion Function Blocks (9) Application example program This example shows the execution of another function block with BufferMode set to 1 while moving from the current command position of 50,000,000 to the 100,000,000 position, to move to the -100,000,000 position. (a) Function block setting (b) Timing diagram Position...

  • Page 161: Relative Positioning Operation (Mc_Moverelative)

    Chapter 6 Motion Function Blocks 6.3.6 Relative positioning operation (MC_MoveRelative) Motion Function Block MC_MoveRelative BOOL Execute Done BOOL UINT Axis Axis UINT BOOL ContinuousUpdate Busy BOOL LREAL Distance Active BOOL LREAL Velocity CommandAborted BOOL LREAL Acceleration Error BOOL LREAL Deceleration ErrorID WORD LREAL...
  • Page 162 Chapter 6 Motion Function Blocks (4) If there is no motion function block is on standby after the current motion function block and the speed is 0 after moving to the target distance, operation is completed and Done output is On. (5) The axis is in "DiscreteMotion"...
  • Page 163 Chapter 6 Motion Function Blocks (10) Application example program This example shows the execution of another function block with BufferMode set to 1 while moving from the current command position of 50,000,000 to the 150,000,000 position, to move to the 50,000,000 position. (a) Function block setting (b) Timing diagram Position...

  • Page 164: Additive Positioning Operation (Mc_Moveadditive)

    Chapter 6 Motion Function Blocks 6.3.7 Additive positioning operation (MC_MoveAdditive) Motion Function Block MC_MoveAdditive BOOL Execute Done BOOL UINT Axis Axis UINT BOOL ContinousUpdate Busy BOOL LREAL Distance Active BOOL LREAL Velocity CommandAborted BOOL LREAL Acceleration Error BOOL LREAL Deceleration ErrorID WORD LREAL...
  • Page 165 Chapter 6 Motion Function Blocks (1) This motion function block is to give the relevant additive position operation commands. (2) Additive position motion (MC_MoveAdditive) is the motion function block which additionally moves as far as the position specified in Distance input from the final target position of the currently running motion function block or the latest motion function block executed in 'DiscreteMotion' state.
  • Page 166 Chapter 6 Motion Function Blocks (9) Example program This example shows the movement from the current command position of 50,000,000 to the 150,000,000 position by moving the distance corresponding to the set value (100,000,000). (a) Function block setting (b) Timing diagram Position Velocity 6-27...
  • Page 167 Chapter 6 Motion Function Blocks (10) Application example program This example shows the execution of MC_MOVEADDITIVE function block while moving from current command position of 0 to the 50,000,000 position, to move an additional 100,000,000 to the 150,000,000 position. (a) Function block setting (b) Timing diagram Position Velocity...

  • Page 168: Specified Velocity Operation (Mc_Movevelocity)

    Chapter 6 Motion Function Blocks 6.3.8 Specified velocity operation (MC_MoveVelocity) Motion Function Block MC_MoveVelocity BOOL Execute InVelocity BOOL UINT Axis Axis UINT BOOL ContinuousUpdate Busy BOOL LREAL Velocity Active BOOL LREAL Acceleration CommandAborted BOOL LREAL Deceleration Error BOOL LREAL Jerk ErrorID WORD UINT...
  • Page 169 Chapter 6 Motion Function Blocks (4) Specify the operation direction in Direction input. But, the operation direction is affected by the sign of the specified speed value by Velocity input. For example, if you specify the negative number for the Velocity value and reverse direction for Direction input, the relevant axis lastly does forward direction operation.
  • Page 170 Chapter 6 Motion Function Blocks (10) Application example program This example program shows that it stops running due to the execution of MC-Halt function block, while moving in the reverse direction at a velocity of 10,000,000. (a) Function block setting (b) Timing diagram Position Velocity...

  • Page 171: Absolute Position Operation Ending With Specified Velocity Operation

    Chapter 6 Motion Function Blocks 6.3.9 Absolute position operation ending with specified velocity operation (MC_MoveContinuousAbsolute) Motion Function Block MC_MoveContinousAbsolute BOOL Execute InEndVelocity BOOL UINT Axis Axis UINT BOOL ContinousUpdate Busy BOOL LREAL Position Active BOOL LREAL EndVelocity CommandAborted BOOL LREAL Velocity Error BOOL...
  • Page 172 Chapter 6 Motion Function Blocks (1) This motion function block is to give Specified velocity operation after relative position operation command to the relevant axis. (2) When executing MC_MoveContinuousAbsolute, the relevant axis moves to the position specified in Position and operates at the specified speed in EndVelocity if there is no motion function block is on standby.
  • Page 173 Chapter 6 Motion Function Blocks (9) Example program This example program shows the operation at a speed of 20,000,000 after moving from the current command position of 50,000,000 to the 100,000,000 position. Once the set position is reached, InEndVelocityoutput is on. (a) Function block setting (b) Timing diagram Velocity...
  • Page 174 Chapter 6 Motion Function Blocks (10) Application example program This example program shows the movement in the direction of the same speed when re-executing the function block after stopping the execution of MC-Halt function block, while moving from the current command position of 0 to the 50,000,000, then operating at a speed of 20,000,000.

  • Page 175: Relative Position Operation Ending With Specified Velocity Operation

    Chapter 6 Motion Function Blocks 6.3.10 Relative position operation ending with specified velocity operation (MC_MoveContinuousRelative) Motion Function Block MC_MoveContinousRelative BOOL Execute InEndVelocity BOOL UINT Axis Axis UINT BOOL ContinousUpdate Busy BOOL LREAL Distance Active BOOL LREAL EndVelocity CommandAborted BOOL LREAL Velocity Error BOOL...
  • Page 176 Chapter 6 Motion Function Blocks (3) Giving a stop command or operation of other motion function block allow to interrupt specified velocity motion. (4) Output InEndVelocity is On when the relevant axis starts speed operation and reaches the specified speed after moving the specified distance, and when specified velocity motion is interrupted, it is Off.
  • Page 177 Chapter 6 Motion Function Blocks (9) Application example program This example program shows the movement at a velocity of 20,000,000 after moving from the current command position of 0 to the 50,000,000 position, then operating at a velocity of 20,000,000, stopping by executing MC_Halt function block, moving to the same relative position (20,000,000) by re-executing the function block.

  • Page 178: Torque Control (Mc_Torquecontrol)

    Chapter 6 Motion Function Blocks 6.3.11 Torque control (MC_TorqueControl) Motion Function Block MC_TorqueControl BOOL Execute InTorque BOOL UINT Axis Axis UINT BOOL ContinousUpdate Busy BOOL LREAL Torque Active BOOL LREAL TorqueRamp CommandAborted BOOL LREAL Velocity Error BOOL LREAL Acceleration ErrorID WORD LREAL Deceleration...
  • Page 179 Chapter 6 Motion Function Blocks (1) This motion function block is to give torque control command to the relevant axis. (2) When executing torque control (MC_Torque), the relevant axis performs the control to keep the torque value specified in Torque input. (3) Giving a stop command or operation of other motion function block allow to interrupt specified velocity motion.

  • Page 180: Setting The Current Position (Mc_Setposition)

    Chapter 6 Motion Function Blocks 6.3.12 Setting the current position (MC_SetPosition) Motion Function Block MC_SetPosition BOOL Execute Done BOOL UINT Axis Axis UINT LREAL Position Busy BOOL BOOL Relative CommandAborted BOOL UINT ExcutionMode Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL...
  • Page 181 Chapter 6 Motion Function Blocks (4) Example program This example program shows the setting of the current position to 200,000,000 position by adding a relative position (Relative=1) corresponding to the set value (50,000,000) from the current position of 150,000,000. (a) Function block setting (b) Timing diagram Position 6-42...

  • Page 182: Velocity/Acceleration Override (Mc_Setoverride)

    Chapter 6 Motion Function Blocks 6.3.13 Velocity/Acceleration override (MC_SetOverride) Motion Function Block MC_SetOverride BOOL Execute Enabled BOOL UINT Axis Axis UINT LREAL VelFactor Busy BOOL LREAL AccFactor Error BOOL LREAL JerkFactor ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Enable...
  • Page 183 Chapter 6 Motion Function Blocks (a) Function block setting (b) Timing diagram Velocity Position 6-44...

  • Page 184: Read Parameter (Mc_Readparameter)

    Chapter 6 Motion Function Blocks 6.3.14 Read parameter (MC_ReadParameter) Motion Function Block MC_ReadParameter BOOL Enable Vaild BOOL UINT Axis Axis UINT ParameterNumber Busy BOOL Error BOOL ErrorID WORD Value LREAL Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Enable...
  • Page 185 Chapter 6 Motion Function Blocks (4) The numbers of parameter are as below. Parameter Item Description Unit 0:pulse,1:mm,2:inch,3:degree Purses per rotation 1 ~ 4,294,967,295 [pulse] Travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] Speed command unit 0:Unit/Time, 1:rpm LREAL Positive number [Unit/s, rpm] Speed limit (Change according to Unit, Pulses per rotation, Basic...
  • Page 186 Chapter 6 Motion Function Blocks Parameter Item Description Encorder1 unit 0: pulse, 1: mm, 2: inch, 3:degree Encorder1 pulse per rotation 1 ~ 4294967295 Encorder1 travel per rotation 0.000000001 ~ 4294967295 0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier Encorder1 pulse input 2:PULSE/DIR 2 multiplier, 3:PHASE A/B 1 multiplier 4:PHASE A/B 2 multiplier, 5: PHASE A/B 4multiplier Encorder1 max.

  • Page 187: Write Parameter (Mc_Writeparameter)

    Chapter 6 Motion Function Blocks 6.3.15 Write parameter (MC_WriteParameter) Motion Function Block MC_WriteParameter BOOL Execute Vaild BOOL Axis UINT Axis UINT ParameterNumber Busy BOOL LREAL Value Error BOOL UINT ExcutionMode ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Execute...
  • Page 188 Chapter 6 Motion Function Blocks (6) The numbers of parameter are as below. Parameter Item Description Unit 0:pulse,1:mm,2:inch,3:degree Purses per rotation 1 ~ 4,294,967,295 [pulse] Travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] Speed command unit 0:Unit/Time, 1:rpm LREAL Positive number [Unit/s, rpm] Speed limit (Change according to Unit, Pulses per rotation, Basic...
  • Page 189 Chapter 6 Motion Function Blocks Parameter Item Description Encorder1 unit 0: pulse, 1: mm, 2: inch, 3:degree Encorder1 pulse per rotation 1 ~ 4294967295 Encorder1 travel per rotation 0.000000001 ~ 4294967295 0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier Encorder1 pulse input 2:PULSE/DIR 2 multiplier, 3:PHASE A/B 1 multiplier 4:PHASE A/B 2 multiplier, 5: PHASE A/B 4multiplier Encorder1 max.

  • Page 190: Reset Axis Error (Mc_Reset)

    Chapter 6 Motion Function Blocks 6.3.16 Reset axis error (MC_Reset) Motion Function Block MC_Reset BOOL Execute Done BOOL UINT Axis UINT Axis Busy BOOL BOOL ErrorType Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Execute...

  • Page 191: Touch Probe (Mc_Touchprobe)

    Chapter 6 Motion Function Blocks 6.3.17 Touch probe (MC_TouchProbe) Motion Function Block MC_TouchProbe BOOL Execute Done BOOL Axis UINT Axis UINT UINT TriggerInput TriggerInput UINT BOOL WindowOnly Busy BOOL LREAL FirstPosition CommandAborted BOOL LREAL LastPosition Error BOOL ErrorID WORD RecordedPosition LREAL Input-Output UINT...
  • Page 192 Chapter 6 Motion Function Blocks Note In the case of using Touch Probe, please set the slave parameters before use. 1. At XG50000, click the registration information of the servo drive. 2. Select PDO Setting at the slave information window 6-53...
  • Page 193 Chapter 6 Motion Function Blocks 3. Select Touch Probe item in the edit window and click the arrow(downward), and include it in the PDO communication data. Touch Probe related PDO item are as follows. 1) RxPDO Touch Probe function (0x60B8) 2) TxPDO Touch Probe function (0x60B8) Touch Probe status (0x60B9)
  • Page 194 Chapter 6 Motion Function Blocks < In case Touch Probe function is the window mode, Operation timing > 6-55...

  • Page 195: Abort Trigger Events (Mc_Aborttrigger)

    Chapter 6 Motion Function Blocks 6.3.18 Abort trigger events (MC_AbortTrigger) Motion Function Block MC_AbortTrigger BOOL Execute Done BOOL Axis UINT Axis UINT UINT TriggerInput TriggerInput USINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real axis) UINT TriggerInput Specify the trigger signal to be disengaged.

  • Page 196: Superimposed Operation (Mc_Movesuperimposed)

    Chapter 6 Motion Function Blocks 6.3.19 SuperImposed operation (MC_MoveSuperImposed) Motion Function Block MC_MoveSuperImposed BOOL Execute Done BOOL UINT Axis Axis UINT BOOL ContinuousUpdate Busy BOOL LREAL Distance Active BOOL LREAL VelocityDiff CommandAborted BOOL LREAL Acceleration Error BOOL LREAL Deceleration ErrorID WORD CoveredDistance LREAL...

  • Page 197: Superimposed Operation Halt (Mc_Haltsuperimposed)

    Chapter 6 Motion Function Blocks 6.3.20 SuperImposed operation halt (MC_HaltSuperImposed) Motion Function Block MC_HaltSuperImposed BOOL Execute Done BOOL UINT Axis Axis UINT LREAL Deceleration Busy BOOL LREAL Jerk Active BOOL CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT Axis Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis Input Give a SuperImposed operation halt command to the relevant axis in the rising BOOL...

  • Page 198: Multi-Axis Motion Function Blocks

    Chapter 6 Motion Function Blocks 6.4 Multi-Axis Motion Function Block 6.4.1 Camming run (MC_CamIn) Motion Function Block MC_CamIn BOOL Execute InSync BOOL UINT Master Master UINT UINT Slave Slave UINT LREAL ContinousUpdate Busy BOOL LREAL MasterOffset Active BOOL LREAL SlaveOffset CommandAborted BOOL LREAL...
  • Page 199 Chapter 6 Motion Function Blocks Set the cam operation mode. 0 : Cam table is applied as an absolute value (mcAbsolute) UINT StartMode 1: Cam table is applied as a relative value based on the command starting point (mcRelative) Select the source of the main axis for cam operation. UINT MasterValueSource 0 : Synchronized in the target value of the main axis.
  • Page 200 Chapter 6 Motion Function Blocks Before After applying applying Serve axis Position Main, Serve axis Main axis starting point Position MasterOffset After applying Serve axis Position Before applying SlaveOffset Main, Serve axis Main axis starting point Position (8) Set the magnification of cam data to be applied in MasterScaling and SlaveScaling. Set the magnification of the main axis data in MasterScaling, and set the magnification of the serve axis data.
  • Page 201 Chapter 6 Motion Function Blocks Synchronization Synchronized Operation section section Serve axis Position SlaveOffset Camming run Main axis MasterStartDistance Start Position Position MasterOffset MasterSyncPosition < In case MasterScaling is 2.0 > MasterSyncPosition position is based on the position within the cam table, and actual synchronization position is decided by considering MasterOffset and MasterScale parameters.
  • Page 202 Chapter 6 Motion Function Blocks (12) Cam operation mode is set in StartMode. Setting range is 0 or 1, and the input value outside the setting range causes an error. (13) MasterValueSource selects the source of the main axis to be synchronized. If it is set to 0, the serve axis performs cam operation based on the command position of the main axis which is calculated in motion controller, and if it is set to 1, the serve axis performs cam operation based on the current position which is received by communication in servo drive of main axis.
  • Page 203 Chapter 6 Motion Function Blocks (b) Timing diagram Velocity Position 6-64...
  • Page 204 Chapter 6 Motion Function Blocks (17) Application example program This example shows the movement of the main-axis from 0 to 200,000 positions after generating the same profile and then executing C_CAMIN command where MasterSyncPosition and MasterSyncDistance are set to 80,000 in sub-axis. (a) Function block setting (b) Timing diagram Master velocity...

  • Page 205: Camming Stop (Mc_Camout)

    Chapter 6 Motion Function Blocks 6.4.2 Camming stop (MC_CamOut) Motion Function Block MC_CamOut BOOL Execute Done BOOL Slave UINT Slave UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT Slave Set the serve axis. (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Execute...
  • Page 206 Chapter 6 Motion Function Blocks (a) Function block setting 6-67...
  • Page 207 Chapter 6 Motion Function Blocks (b) Timing diagram Master velocity Slave velocity Slave position Master position 6-68...

  • Page 208: Electrical Gearing Run (Mc_Gearin)

    Chapter 6 Motion Function Blocks 6.4.3 Electrical gearing run (MC_GearIn) Motion Function Block MC_GearIn BOOL Execute InGear BOOL UINT Master Master UINT UINT Slave Slave UINT BOOL ContinousUpdate Busy BOOL RatioNumerator Active BOOL UINT RatioDenominator CommandAborted BOOL UINT MasterValueSource Error BOOL LREAL Acceleration...
  • Page 209 Chapter 6 Motion Function Blocks Output BOOL InGear Indicate that gear operation is running by applying gear ration. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Active Indicate that the current motion function block is controlling the relevant axis. BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
  • Page 210 Chapter 6 Motion Function Blocks (a) Function block setting (b) Timing diagram Axis1 position Axis2 position Axis1 velocity Axis2 veloctiy 6-71...

  • Page 211: Electrical Gearing Disengage (Mc_Gearout)

    Chapter 6 Motion Function Blocks 6.4.4 Electrical gearing disengage (MC_GearOut) Motion Function Block MC_GearOut BOOL Execute Done BOOL UINT Slave Slave UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT Slave Set the serve axis. (1~32: real/virtual axis, 33~36: virtual axis) Input Specify the sequential operation setting of motion function block.
  • Page 212 Chapter 6 Motion Function Blocks (a) Function block setting (b) Timing diagram Axis2 velocity Axis1 position Axis1 velocity Axis2 position 6-73...

  • Page 213: Electrical Gearing By Specifying The Position (Mc_Gearinpos)

    Chapter 6 Motion Function Blocks 6.4.5 Electrical gearing by specifying the position (MC_GearInPos) Motion Function Block Input-Output Set the main axis. (1~32: real/virtual axis, 33~36: virtual axis1~32: real/virtuall UINT Master axis, 33~36: virtual axis, 1001~1002: encoder) UINT Slave Set the serve axis. (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Execute...
  • Page 214 Chapter 6 Motion Function Blocks Specify the maximum acceleration of the spindle at the beginning of LREAL Acceleration synchronization. [u/s Specify the maximum deceleration of the spindle at the beginning of LREAL Deceleration synchronization. [u/s LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s Specify the sequential operation setting of motion function block.
  • Page 215 Chapter 6 Motion Function Blocks (10) The changed parameters can be applied by re-executing the function block (Execute input is On) before the command is completed. Only RatioNumerator, RatioDenominator, MasterSyncPosition, SlaveSyncPosition, MasterStartDistance, Velocity, Acceleration, Deceleration input can be updated. (However, in case of InGear=On, RatioNumerator, RatioDenominator input can be updated.
  • Page 216 Chapter 6 Motion Function Blocks (a) Function block setting (b) Timing diagram Axis1 velocity Axis2 velocity Axis1 position Axis2 position 6-77...
  • Page 217 Chapter 6 Motion Function Blocks (12) Application example program This example program shows MC_GearInPos Active and InSync being off and gear operation being terminated when MC_GearOut command is issued on 2-axis at (a) position during the motion shown in the basic example program. (Gear operation termination can be verified by 1-axis that stops and 2-axis that continues to operate) (a) Function block setting (b) Timing diagram...

  • Page 218: Phase Compensation (Mc_Phasing)

    Chapter 6 Motion Function Blocks 6.4.6 Phase compensation (MC_Phasing) Motion Function Block MC_Phasing BOOL Execute Done BOOL UINT Master Master UINT UINT Slave Slave UINT LREAL PhaseShift Busy BOOL LREAL Velocity Active BOOL LREAL Acceleration CommandAborted BOOL LREAL Deceleration Error BOOL LREAL Jerk...
  • Page 219 Chapter 6 Motion Function Blocks (1) This motion function block performs phase correction of axis during synchronous control operation. Phase correction is performed on the main-axis position referred to by sub-axis in synchronous control operation, to perform synchronous control operation of the sub-axis to the corrected main-axis position. (2) Once phase correction command is executed, the current position of the main-axis is phase-corrected using the phase shift setting at PhaseShift- Velocity / Acceleration /Deceleration / Jerk.

  • Page 220: Group Motion Function Blocks

    Chapter 6 Motion Function Blocks 6.5 Group Motion Function Blocks 6.5.1 Adds one axis to the group (MC_AddAxisToGroup) Motion Function Block MC_AddAxisToGroup BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT Axis Axis UINT UINT IdentInGroup Busy BOOL Error BOOL ErrorID WORD Input-Output...

  • Page 221: Removes One Axis From The Group (Mc_Removeaxisfromgroup)

    Chapter 6 Motion Function Blocks 6.5.2 Removes one axis from the group (MC_RemoveAxisFromGroup) Motion Function Block MC_RemoveAxisFromGroup BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT IdentInGroup Busy BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group where the relevant axis is removed. (1 ~ 16 : Group1 ~ Group 16) Input BOOL Execute...

  • Page 222: Removes All Axes From The Group (Mc_Ungroupallaxes)

    Chapter 6 Motion Function Blocks 6.5.3 Removes all axes from the group (MC_UngroupAllAxes) Motion Function Block MC_UngroupAllAxes BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group where every axis is to be removed. (1 ~ 16 : Group 1 ~ Group 16) Input BOOL Execute...

  • Page 223: Changes The State For Group From Groupdisable To Groupenable (Mc_Groupenable)

    Chapter 6 Motion Function Blocks 6.5.4 Changes the state for group from GroupDisable to GroupEnable (MC_GroupEnable) Motion Function Block MC_GroupEnable BOOL Execute Done BOOL AxesGroup AxesGroup UINT UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group to be activated. (1 ~ 16 : Group 1 ~ Group 16) Input BOOL Execute...

  • Page 224: Changes The State For Group From Groupenable To Groupdisable (Mc_Groupdisable)

    Chapter 6 Motion Function Blocks 6.5.5 Changes the state for group from GroupEnable to GroupDisable (MC_GroupDisable) Motion Function Block MC_GroupDisable BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group to be deactivated. (1 ~ 16 : Group 1 ~ Group 16) Input BOOL Execute...

  • Page 225: Performs The Search Home Of All Axes In The Group (Mc_Grouphome)

    Chapter 6 Motion Function Blocks 6.5.6 Performs the search home of all axes in the group (MC_GroupHome) Motion Function Block MC_GroupHome BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT LREAL[ ] Position Busy BOOL UINT BufferMode Active BOOL CommandAborted BOOL Error BOOL ErrorID...

  • Page 226: Sets The Position Of All Axes In The Group Without Moving (Mc_Groupsetposition)

    Chapter 6 Motion Function Blocks 6.5.7 Sets the position of all axes in the group without moving (MC_GroupSetPosition) Motion Function Block MC_GroupSetPosition Execute Done BOOL BOOL UINT AxesGroup AxesGroup UINT Position Busy BOOL BOOL Relative Active BOOL UINT ExecuteMode CommandAborted BOOL Error BOOL...
  • Page 227 Chapter 6 Motion Function Blocks (3) ExcutionMode input specifies the setting point. If it is 0, it is set immediately after the execution of a command, If it is 1, it is set at the same point with ‘Buffered’ of sequential operation setting. The value unable to be set causes "error 0x201B”. 0 (mcImmediately): Change the value of parameter immediately after the execution of motion function block (rising Edge in Execute input).

  • Page 228: Stop The Group Immediately (Mc_Groupstop)

    Chapter 6 Motion Function Blocks 6.5.8 Stop the group immediately (MC_GroupStop) Motion Function Block MC_GroupStop BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT LREAL Deceleration Busy BOOL LREAL Jerk Active BOOL CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group to stop immediately.

  • Page 229: Stop The Group (Mc_Grouphalt)

    Chapter 6 Motion Function Blocks 6.5.9 Stop the group (MC_GroupHalt) Motion Function Block MC_GroupHalt BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT LREAL Deceleration Busy BOOL LREAL Jerk Active BOOL UINT BufferMode CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group to stop.

  • Page 230: Reset The Group Error (Mc_Groupreset)

    Chapter 6 Motion Function Blocks 6.5.10 Reset the group error (MC_GroupReset) Motion Function Block MC_GroupReset BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group to do error reset. (1 ~ 16 : Group 1 ~ Group 16) Input BOOL Execute...

  • Page 231: Absolute Positioning Linear Interpolation Operation (Mc_Movelinearabsolute)

    Chapter 6 Motion Function Blocks 6.5.11 Absolute positioning linear interpolation operation (MC_MoveLinearAbsolute) Motion Function Block MC_MoveLinearAbsolute Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy LREAL[ ] Position BOOL Active LREAL Velocity BOOL LREAL Acceleration CommandAborted BOOL Error LREAL Deceleration BOOL ErrorID LREAL...
  • Page 232 Chapter 6 Motion Function Blocks (1) This motion function block is to give an absolute position linear interpolation command to the axis group specified in AxesGroup input. (2) When this motion function block is executed, interpolation control is performed in a linear path from the current position to the target position of each axis, and the moving direction is decided by the starting point and the target point of each axis.
  • Page 233 Chapter 6 Motion Function Blocks (a) Function block setting (Y axis) Starting position 4000 Y axis movement value (1000-4000=-3000) Goal 1000 Position X axis 1000 5000 10000 X axis movement value (10000-1000=9000) 6-94...
  • Page 234 Chapter 6 Motion Function Blocks (b) Timing diagram Axis X velocity Axis Y position Axis X position Axis Y velocity XY graph 6-95...

  • Page 235: Relative Positioning Linear Interpolation Operation (Mc_Movelinearrelative)

    Chapter 6 Motion Function Blocks 6.5.12 Relative positioning linear interpolation operation (MC_MoveLinearRelative) Motion Function Block MC_MoveLinearRelative Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy LREAL[ ] Distance BOOL Active LREAL Velocity BOOL LREAL Acceleration CommandAborted BOOL Error LREAL Deceleration BOOL ErrorID LREAL...
  • Page 236 Chapter 6 Motion Function Blocks (1) This motion function block is to give a relative position linear interpolation command to the axis group specified in AxesGroup input. (2) When this motion function block is executed, interpolation control performed in a linear path from the current position to the target position of each axis, and the moving direction is decided by the sign of the target distance of each axis.
  • Page 237 Chapter 6 Motion Function Blocks (a) Function block setting (Y axis) Starting position 4000 Y axis movement value (-3000) Linear interpolation end position 1000 (X axis) 1000 5000 10000 X axis movement value(9000) 6-98...
  • Page 238 Chapter 6 Motion Function Blocks (b) Timing diagram Axis X velocity Axis Y position Axis X position Axis Y velocity XY graph 6-99...

  • Page 239: Absolute Positioning Circular Interpolation Operation (Mc_Movecircularabsolute)

    Chapter 6 Motion Function Blocks 6.5.13 Absolute positioning circular interpolation operation (MC_MoveCircularAbsolute) Motion Function Block MC_MoveCircularAbsolute Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy UINT CircMode BOOL Active LREAL[ ] AuxPoint BOOL LREAL[ ] EndPoint CommandAborted BOOL Error UINT PathChoice BOOL ErrorID...
  • Page 240 Chapter 6 Motion Function Blocks Output BOOL Done Indicate whether to reach the specified position. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Active Indicate that the current motion function block is controlling the relevant axis. BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
  • Page 241 Chapter 6 Motion Function Blocks (b) Circular interpolation of central point specifying method In this method, operation starts at the current position, and it does circular interpolation to the target position along the circular path, which has a radius of the distance to the specified central position. The Figure below shows that the coordinate of the axis group at the beginning of a command corresponds to the current position, the coordinate entered in AuxPoint corresponds to the central point, and the coordinate entered in EndPoint corresponds to the target point as an absolute value.
  • Page 242 Chapter 6 Motion Function Blocks (9) Example program This example shows the circular interpolation to the target position (1000, 1000) by moving clock-wise after setting the center point (2000,2000) specification method when the current command position is (1000, 1000). (a) Function block setting (b) Timing diagram Axis-Y position Axis-X position...
  • Page 243 Chapter 6 Motion Function Blocks (c) XY graph 6-104...

  • Page 244: Relative Positioning Circular Interpolation Operation (Mc_Movecircularrelative)

    Chapter 6 Motion Function Blocks 6.5.14 Relative positioning circular interpolation operation (MC_MoveCircularRelative) Motion Function Block MC_MoveCircularRelative Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy UINT CircMode BOOL Active LREAL[ ] AuxPoint BOOL CommandAborted LREAL[ ] EndPoint BOOL USINT PathChoice Error BOOL ErrorID...
  • Page 245 Chapter 6 Motion Function Blocks Output BOOL Done Indicate whether to reach the specified position. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Active Indicate that the current motion function block is controlling the relevant axis. BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
  • Page 246 Chapter 6 Motion Function Blocks (b) Circular interpolation of central point specifying method In this method, operation starts at the current position, and it does circular interpolation to the target position along the circular path, which has a radius of the distance to the specified central position. The Figure below shows that the coordinate of the axis group at the beginning of a command corresponds to the current position, the coordinate entered in AuxPoint corresponds to the central point, and the coordinate entered in EndPoint corresponds to the target point as a relative value.
  • Page 247 Chapter 6 Motion Function Blocks (9) Example program This example is to set the center point specification method when the current command position is (1000, 1000) (set the relative position from the current position to the center point to set: 1000, 1000), and move clock-wise to perform circular interpolation to the target position (set the relative position from the current position to the target position: 0, 0).
  • Page 248 Chapter 6 Motion Function Blocks (c) XY graph 6-109...

  • Page 249: Exclusive Function Blocks

    Chapter 6 Motion Function Blocks 6.6 Exclusive Function Blocks 6.6.1 Connect servo drives (LS_Connect) Motion Function Block LS_Connect BOOL Execute Done BOOL Busy BOOL Error BOOL ErrorID WORD Input Give communication connection command to the relevant motion controller in the BOOL Execute rising Edge.

  • Page 250: Disconnect Servo Drives (Ls_Disconnect)

    Chapter 6 Motion Function Blocks 6.6.2 Disconnect servo drives (LS_Disconnect) Motion Function Block LS_Disonnect BOOL Execute Done BOOL Busy BOOL Error BOOL ErrorID WORD Input Give communication disconnection command to the relevant motion controller in BOOL Execute the rising Edge. Output BOOL Done...

  • Page 251: Read Sdo (Ls_Readsdo)

    Chapter 6 Motion Function Blocks 6.6.3 Read SDO (LS_ReadSDO) Motion Function Block LS_ReadSDO BOOL Execute Done BOOL Slave UINT Slave UINT UINT Index Busy BOOL UINT SubIndex Error BOOL UINT Length ErrorID WORD Value DINT Input-Output UINT Slave Set the slave to be given a command. (1~64: slave 1~slave 64) Input BOOL Execute...

  • Page 252: Write Sdo (Ls_Sdo)

    Chapter 6 Motion Function Blocks 6.6.4 Write SDO (LS_SDO) Motion Function Block LS_WriteSDO BOOL Execute Done BOOL Slave UINT Slave UINT UINT Index Busy BOOL UINT SubIndex Error BOOL UINT Length ErrorID WORD DINT Value Input-Output UINT Slave Set the slave to be given a command. (1~64: slave 1~slave 64) Input BOOL Execute...

  • Page 253: Save Sdo (Ls_Savesdo)

    Chapter 6 Motion Function Blocks 6.6.5 Save SDO (LS_SaveSDO) Motion Function Block LS_SaveSDO BOOL Execute Done BOOL Slave UINT Slave UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT Slave Set the slave to be given a command. (1~64: slave 1~slave 64) Input BOOL Execute...

  • Page 254: Encoder Preset (Ls_Encoderpreset)

    Chapter 6 Motion Function Blocks 6.6.6 Encoder preset (LS_EncoderPreset) Motion Function Block LS_EncoerPreset BOOL Execute Done BOOL UINT Encoder Busy BOOL LREAL Position Error BOOL BOOL Relative ErrorID WORD Input BOOL Execute Specify the position of the relevant encoder in the rising Edge. UINT Encoder Set the encoder to set the position.

  • Page 255: Jog Operation (Ls_Jog)

    Chapter 6 Motion Function Blocks 6.6.7 JOG operation (LS_Jog) Motion Function Block LS_Jog BOOL Enable Enabled BOOL Axis UINT Axis UINT BOOL Direction Busy BOOL BOOL Low/High Error BOOL ErrorID WORD Input-Output UINT Axis Set the axis to be given a command. (1~32: real/virtual axis, 33~36: virtual axis) Input BOOL Enable...
  • Page 256 Chapter 6 Motion Function Blocks (4) Example program This example shows jog operation under the following settings when the current command position is 0. (a) Function block setting (b) Timing diagram Axis-2 position Axis-1 position Axis-3 velocity Axis-2 velocity Axis-1 velocity Axis-3 position 6-117...

  • Page 257: Read Cam Data (Ls_Readcamdata)

    Chapter 6 Motion Function Blocks 6.6.8 Read Cam data (LS_ReadCamData) Motion Function Block LS_ReadCamData BOOL Enable Done BOOL Axis UINT Axis UINT UINT CamTable ID Busy BOOL Error BOOL Array [] of LREAL MasterPoint Array [] of LREAL SlavePoint ErrorID WORD Array [] of BYTE CamCurveSel...

  • Page 258: Write Cam Data (Ls_Writecamdata)

    Chapter 6 Motion Function Blocks 6.6.9 Write Cam data (LS_WriteCamData) Motion Function Block LS_WriteCamData BOOL Execute Done BOOL Axis UINT Axis UINT UINT CamTable ID Busy BOOL LREAL StartSlope Error BOOL LREAL EndSlope ErrorID WORD UINT CamPointNum Array[] of LREAL MasterPoint Array[] of LREAL SlavePoint Array[] of BYTE CamCurveSel UINT...
  • Page 259 Chapter 6 Motion Function Blocks (4) If the size of MasterPoint / SlavePoint / CamCurveSel array is set to a value smaller than CamPointNum, an “error 16#000B” occurs. (5) ExecutionMode input sets the setting timing. When the input is 0, setting is performed upon executing the command. When the input is 1, setting is performed at the same time as "Buffered"...

  • Page 260: Read Esc (Ls_Readesc)

    Chapter 6 Motion Function Blocks 6.6.10 Read ESC (LS_ReadEsc) Motion Function Block LS_ReadEsc Done BOOL BOOL Execute UINT Busy BOOL UINT Error BOOL UINT Length ErrorID WORD UINT EcatCmd Value UDINT UINT Input BOOL Execute Give the ESC reading command to the slave controller in the rising Edge. UINT Set the slave controller address according to the EcatCmd.
  • Page 261 Chapter 6 Motion Function Blocks 1) 1 - APRD (Auto Increment Physical Read) This command is used when reading the slave device data following the order of physical connection before normal communication connection by the master. A slave device receiving Adp with 0 value will read data of the size designated by Length.

  • Page 262: Write Esc (Ls_Writeesc)

    Chapter 6 Motion Function Blocks 6.6.11 Write ESC (LS_WriteEsc) Motion Function Block LS_WriteEsc BOOL Execute Done BOOL UINT Busy BOOL UINT Error BOOL UINT Length ErrorID WORD UINT EcatCmd UINT UDINT Value Input BOOL Execute Give the ESC writing command to the slave controller in the rising Edge. UINT Set the slave controller address according to the EcatCmd.
  • Page 263 Chapter 6 Motion Function Blocks 1) 2 - APW (Auto Increment Physical Write) This command is used when reading the slave device data following the order of physical connection before normal communication connection by the master. A slave device receiving Adp with 0 value will read data of the size designated by Length.

  • Page 264: Skip Cam (Ls_Camskip)

    Chapter 6 Motion Function Blocks 6.6.12 Skip Cam (LS_CamSkip) Motion Function Block LS_CamSkip BOOL Execute Done BOOL UINT Slave Slave UINT UINT SkipCount Busy BOOL Active BOOL CommandAborted BOOL Error BOOL ErrorID WORD CoveredSkipCount UINT Input - Output UINT Slave Set the serve axis.

  • Page 265: Variable Cam Operation (Ls_Varcamin)

    Chapter 6 Motion Function Blocks 6.6.13 Variable Cam operation (LS_VarCamIn) Motion Function Block LS_VarCamIn BOOL Execute InSync BOOL UDINT VarOffset UINT VarOffset UINT Slave Slave UINT LREAL ContinousUpdate Busy BOOL LREAL MasterOffset Active BOOL LREAL SlaveOffset CommandAborted BOOL LREAL MasterScaling Error BOOL LREAL...
  • Page 266 Chapter 6 Motion Function Blocks Select the source of the main axis for cam operation. UINT MasterValueSource 0 : Synchronized in the target value of the main axis. 1 : Synchronized in the current value of the serve axis. UINT CamTableID Specify the cam table to operate.

  • Page 267: Variable Gear Operation (Ls_Vargearin)

    Chapter 6 Motion Function Blocks 6.6.14 Variable gear operation (LS_VarGearIn) Motion Function Block LS_VarGearIn BOOL Execute InGear BOOL UDINT VarOffset VarOffset UINT UINT Slave Slave UINT BOOL ContinousUpdate Busy BOOL RatioNumerator Active BOOL UINT RatioDenominator CommandAborted BOOL UINT MasterValueSource Error BOOL LREAL Acceleration...
  • Page 268 Chapter 6 Motion Function Blocks Output BOOL InGear Indicate that gear operation is running by applying gear ration. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Active Indicate that the current motion function block is controlling the relevant axis. BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.

  • Page 269: Variable Positioning Gear Operation (Ls_Vargearinpos)

    Chapter 6 Motion Function Blocks 6.6.15 Variable positioning gear operation (LS_VarGearInPos) Motion Function Block LS_VarGearInPos BOOL Execute InGear BOOL UDINT VarOffset VarOffset UINT UINT Slave Slave UINT RatioNumerator Busy BOOL UINT RatioDenominator Active BOOL UINT MasterValueSource CommandAborted BOOL LREAL MasterSyncPosition Error BOOL LREAL...
  • Page 270 Chapter 6 Motion Function Blocks LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s Specify the sequential operation setting of motion function block. UINT BufferMode (Refer to 6.1.4.BufferMode) Output Indicate that gear operation is normally being fulfilled as the specified gear ratio is BOOL InSync applied.

  • Page 271: Read The Slave Location Of The Cam Table (Ls_Readcamtableslavepos)

    Chapter 6 Motion Function Blocks 6.6.16 Read the slave location of the CAM table (LS_ReadCamTableSlavePos) Motion Function Block LS_ReadCamTableSlavePos BOOL Execute Done BOOL UINT Axis Axis UINT UINT CamTableID Busy BOOL LREAL MasterPos SlavePos LREAL SlaveVel LREAL SlaveAccel LREAL Error BOOL ErrorID WORD...

  • Page 272: Write Inverter Speed (Ls_Inverterwritevel)

    Chapter 6 Motion Function Blocks 6.6.17 Write inverter speed (LS_InverterWriteVel) Motion Function Block LS_InverterWriteVel BOOL Execute Done BOOL UINT Axis Axis UINT Error BOOL TargetVel WORD ErrorID Input - Output UINT Axis Specify the axis to be commanded (1~32: real axis) Input BOOL Execute...

  • Page 273: Read Inverter Speed (Ls_Inverterreadvel)

    Chapter 6 Motion Function Blocks 6.6.18 Read inverter speed (LS_InverterReadVel) Motion Function Block LS_InverterReadVel BOOL Enable Enabled BOOL UINT Axis Axis UINT Error BOOL ErrorID WORD ActualVel Input - Output UINT Axis Specify the axis to be commanded (1~32: real axis) Input BOOL Enable...

  • Page 274: Write Inverter Control Word (Ls_Invertercontrol)

    Chapter 6 Motion Function Blocks 6.6.19 Write inverter control word (LS_InverterControl) Motion Function Block LS_InverterControl BOOL Execute Done BOOL UINT Axis Axis UINT Error BOOL BOOL SwitchOn ErrorID WORD BOOL VoltageEn BOOL QuickStop BOOL EnableOP BOOL EnableRamp BOOL UnlockRamp BOOL ReferenceRamp BOOL FaultReset...
  • Page 275 Chapter 6 Motion Function Blocks (3) Please refer to the following. Command bit used in Enable Operation Value Description Holding previous operation status 4 ( Enable Ramp) Inverter operation by command bit Holding of output frequency 5 (Unlock Ramp) Operatin to target freqency Input target frequency as 0 6 ( Reference Ramp) Input target frequency as settting value...
  • Page 276 Chapter 6 Motion Function Blocks 6-137...

  • Page 277: Read Inverter Status 1 (Ls_Inverterstatus1)

    Chapter 6 Motion Function Blocks 6.6.20 Read inverter status 1 (LS_InverterStatus1) Motion Function Block LS_InverterStatus1 BOOL Enable Enabled BOOL UINT Axis Axis UINT Error BOOL ErrorID WORD RdySwitchOn BOOL SwitchedOn BOOL OpEn BOOL VoltageEn BOOL SwOnDisable BOOL Input - Output UINT Axis Specify the axis to be commanded (1~32: real axis)

  • Page 278: Read Inverter Status 2 (Ls_Inverterstatus2)

    Chapter 6 Motion Function Blocks 6.6.21 Read inverter status 2 (LS_InverterStatus2) Motion Function Block LS_InverterStatus2 BOOL Enable Enabled BOOL UINT Axis Axis UINT Error BOOL ErrorID WORD Fault BOOL QuickStop BOOL Warning BOOL Remote BOOL TargetReach BOOL LimitActive BOOL Input - Output UINT Axis Specify the axis to be commanded (1~32: real axis)

  • Page 279: Speed Control Operation (Csv Mode) (Ls_Syncmovevelocity)

    Chapter 6 Motion Function Blocks 6.6.22 Speed control operation (CSV mode) (LS_SyncMoveVelocity) Motion Function Block LS_SyncMoveVelocity BOOL Execute InVelocity BOOL UINT Axis Axis UINT Busy BOOL LREAL Velocity Active BOOL BOOL CmdPosMode CommandAborted BOOL UINT BufferMode Error BOOL ErrorID WORD Input - Output UINT Axis...

  • Page 280: Read Cam Table Master Position (Ls_Readcamtablemasterpos)

    Chapter 6 Motion Function Blocks 6.6.23 Read CAM table master position (LS_ReadCamTableMasterPos) Motion Function Block LS_ReadCamTableMasterPos BOOL Execute Done BOOL UINT Axis Axis UINT UINT CamTableID Busy BOOL LREAL MasterStartPos MasterPos LREAL LREAL MasterEndPos Error BOOL LREAL SlavePos ErrorID WORD LREAL Scale Input - Output...
  • Page 281 Chapter 6 Motion Function Blocks Slave Scale SlavePos Master MasterStartPos MasterPos MasterEndPos Set the position of serve axis to read in the cam table as SlavePos value. Offset/Gear ratio/Phase correction operation applied to the command axis is not reflected in the MasterPos output. When the cam table master position reading operation is completed, the Done output turns on.

  • Page 282: Onoff Cam Operation (Ls_Onoffcam)

    Chapter 6 Motion Function Blocks 6.6.24 OnOff CAM Operation (LS_OnOffCam) Motion Function Block LS_OnOffCam BOOL Execute InSync BOOL UINT Master Master UINT UINT Slave Slave UINT Busy BOOL BOOL CamOnOff Active BOOL BOOL SkipOnCam BOOL SkipRunCam CommandAborted BOOL UINT MasterValueSource Error BOOL UINT...
  • Page 283 Chapter 6 Motion Function Blocks Output BOOL InSync Indicates that cam operation has entered the RunCam state. BOOL Busy Indicates that the execution of the motion function block is not completed. BOOL Active Indicates that the current motion function block is controlling the relevant axis. Indicates that the current motion function block is interrupted by another BOOL CommandAborted...
  • Page 284 Chapter 6 Motion Function Blocks (6) If the CamOnOff signal is Off, the operation to switch to RunCam->OffCam->Stop state is performed. If the CamOnOff signal is switched from Off to On in the RunCam state, the RunCam state is maintained if OffCam is not yet executed. In a state where OffCam is executed, the state switches to the OnCam->RunCam state again after switching to the OffCam- >Stop state.

  • Page 285: Rotaryknife Cam Profile Generation (Ls_Rotaryknifecamgen)

    Chapter 6 Motion Function Blocks 6.6.25 RotaryKnife cam profile generation (LS_RotaryKnifeCamGen) Motion Function Block LS_RotaryKnifeCamGen BOOL Execute Done BOOL UINT Axis Axis UINT UINT CamTableID Busy BOOL LREAL PartLength Error BOOL LREAL Circumference ErrorID WORD LREAL CuttingStart LREAL CuttingEnd LREAL CuttingSpdRatio UINT CamType UINT CamCurve CamPointNum...
  • Page 286 Chapter 6 Motion Function Blocks (4) On the Circumference input, enter the circumference of the RotaryKnife. Circumference PartLength PartLength (5) On the CuttingStart input, enter the starting position for the RotaryKnife to start cutting. On the CuttingStart input, enter the ending position for the RotaryKnife to end cutting.
  • Page 287 Chapter 6 Motion Function Blocks (11) The sRampIn and sRampOut types generate a shortened cam profile of RampIn and RampOut respectively. When operating using sRampIn and sRampOut and you want to main axis to reach the 1/2Circumference position of the serve axis, the main axis must start at the 1/2 position of PartLength.

  • Page 288: Cross Sealer Cam Profile Generation (Ls_Crosssealcamgen)

    Chapter 6 Motion Function Blocks 6.6.26 Cross sealer cam profile generation (LS_CrossSealCamGen) Motion Function Block LS_CrossSealCamGen BOOL Execute Done BOOL UINT Axis Axis UINT UINT CamTableID Busy BOOL LREAL PartLength Error BOOL LREAL Circumference ErrorID WORD LREAL SealStart LREAL SealEnd LREAL SealSpdRatio UINT CamType UINT CamCurve...
  • Page 289 Chapter 6 Motion Function Blocks (4) Both the main and serve axes of the generated cam profile is output within the 0-360 range. For the PartLength and Circumference values, you must enter the distance moved by the main axis when the main and serve axes move in 360 value.
  • Page 290 Chapter 6 Motion Function Blocks (11) The cam profile generated in the LS_CrossSealCamGen function is similar to the cam profile generated in the LS_RotaryCutCamGen. For the RampIn profile, the operation starts when the main axis is at 270 and not at 0. The profile also starts to perform sealing when the main axis is at 180 degrees.

  • Page 291: Coordinate System Operation Function Block

    Chapter 6 Motion Function Blocks 6.7 Coordinate System Operation Function Block 6.7.1 Machine information setting(MC_SetKinTransform) Motion Function Block MC_SetKinTransform BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT KinType Busy BOOL UINT KinExtParam Active BOOL CommandAborted BOOL ARRAY[0..11] OF LREAL[ ] KinParam LREAL ToolOffsetX...
  • Page 292 Chapter 6 Motion Function Blocks (1) This motion function block sets the ACS and MCS conversion based on the machine model defined in advance at AxesGroup. (2) The same setting can be applied to the XG5000 group parameter settings. (3) The KinType input is used to set the type of the device. You can set the device as shown below. 1) 0: None 2) 1: XYZ 3) 2: Delta3...
  • Page 293 Chapter 6 Motion Function Blocks (6) When using Delta3, the device setting information is as follows. For more information, refer to 8.4.4 Machine information setting. Parameter Description KinParam[0] Lf: Link length of the fixed frame (mm) KinParam[1] Lm: Link length of the moving frame (mm) KinParam[2] Rf: Length from the center of the fixed frame to the link of the fixed frame (mm)

  • Page 294: Pcs Setting (Mc_Setcartesiantransform)

    Chapter 6 Motion Function Blocks 6.7.2 PCS setting (MC_SetCartesianTransform) Motion Function Block MC_SetCartesianTransform BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT LREAL TransX Busy BOOL LREAL TransY Active BOOL LREAL TransZ CommandAborted BOOL LREAL RotAngleA Error BOOL LREAL RotAngleB ErrorID WORD LREAL RotAngleC...
  • Page 295 Chapter 6 Motion Function Blocks (2) Axis group setting can be performed in the same way at XG5000 axis group parameter setting. (3) TransX/TransY/TransZ is the move distance from MCS origin to PCS origin. RotA/RotB/RotC is the rotation value of PCS, RotA is the value that rotates PCS on the X-axis of PCS, RotB is the value that rotates PCS on the Y-axis of PCS, RotC is the value that rotates PCS on the Z-axis of PCS.

  • Page 296: Work Space Setting (Ls_Setworkspacetransform)

    Chapter 6 Motion Function Blocks 6.7.3 Work space setting (LS_SetWorkspace) Motion Function Block LS_SetWorkspace BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT WorkspaceType Busy BOOL BOOL WorkspaceError Active BOOL ARRAY[0..7] OF LREAL[ ] WorksapceParam CommandAborted BOOL Error BOOL ErrorID WORD Input-Output UINT...
  • Page 297 Chapter 6 Motion Function Blocks (2) The same setting can be performed in XG5000 group parameter setting. (3) WorkspaceType can be selected from 4 types (1: Rectangle 2: Cylinder 3: Delta3 4: Sector). (4) WorkspaceError input determines whether an error occurs when a coordinate system operation exceeds the work space. (5) WorkspaceParam input sets the parameters depending on the work space type.
  • Page 298 Chapter 6 Motion Function Blocks 3) Delta Z Axis Parameter value YAxis WorkspaceParam[0] Zu(mm) WorkspaceParam[1] Hcy(mm) WorkspaceParam[2] Hco(mm) WorkspaceParam[3] Rcy(mm) WorkspaceParam[4] Rco(mm) WorkspaceParam[5] 4) Sector Parameter value Y Axis WorkspaceParam[0] L end (mm) WorkspaceParam[1] L start(mm) WorkspaceParam[2] Z max(mm) WorkspaceParam[3] Z min(mm) EndAngle WorkspaceParam[4]...

  • Page 299: Time-Linear Interpolation Operation For Absolute Position Of Coordinate System

    Chapter 6 Motion Function Blocks 6.7.4 Time-linear interpolation operation for absolute position of coordinate system (LS_MoveLinearTimeAbsolute) Motion Function Block LS_MoveLinearTimeAbsolute BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT CoordSystem Busy BOOL ARRAY[0..5] OF LREAL[ ] Position Active BOOL UINT TrajType CommandAborted BOOL...
  • Page 300 Chapter 6 Motion Function Blocks (1) This motion function block issues absolute position/time linear interpolation command based on coordinate system on the axes group designated by AxesGroup input (2) When this motion function block is executed, interpolation control is performed in a linear trajectory from the machine end point of each axes group to the target position.

  • Page 301: Time-Linear Interpolation Operation For Relative Position Of Coordinate System

    Chapter 6 Motion Function Blocks 6.7.5 Time-linear interpolation operation for relative position of coordinate system (LS_MoveLinearTimeRelative) Motion Function Block LS_MoveLinearTimeRelative BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT CoordSystem Busy BOOL ARRAY[0..5] OF LREAL[ ] Position Active BOOL UINT TrajType CommandAborted BOOL...
  • Page 302 Chapter 6 Motion Function Blocks (1) This motion function block issues relative position/time linear interpolation command based on coordinate system on the axes group designated by AxesGroup input (2) When this motion function block is executed, interpolation control is performed in a linear trajectory from the machine end point of each axes group to the target position.

  • Page 303: Circular Interpolation Operation For Absolute Position Of Coordinate System

    Chapter 6 Motion Function Blocks 6.7.6 Circular interpolation operation for absolute position of coordinate system (MC_MoveCircularAbsolute2D) Motion Function Block MC_MoveCircularAbsolute2D Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy UINT CircMode BOOL Active LREAL[ ] AuxPoint BOOL CommandAborted LREAL[ ] EndPoint BOOL Error...
  • Page 304 Chapter 6 Motion Function Blocks Output BOOL Done Indicate whether to reach the specified point. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Active Indicate that whether or not motion function block is controlling the group. BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
  • Page 305 Chapter 6 Motion Function Blocks (b) Circular Interpolation Using Center Point Specification (CircMode = 1) This method performs circular interpolation to the target position by starting operation at the current position, and following a circular trajectory of which diameter corresponds to the distance to the designated center point. In the figure below, the current position corresponds to the axes group coordinate at the start of the command, the center point corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the absolute coordinate input for the EndPoint.
  • Page 306 Chapter 6 Motion Function Blocks (9) Example program This example is to set the center point at (0, 75, -580) when the current command position is MCS (0,150,-580), and perform circular interpolation to the target position MCS(0,0,-580) by moving in a clockwise direction. (a) Function block setting CenterPoint EndPoint...

  • Page 307: Circular Interpolation Operation For Relative Position Of Coordinate System

    Chapter 6 Motion Function Blocks 6.7.7 Circular interpolation operation for relative position of coordinate system (MC_MoveCircularRelative2D) Motion Function Block MC_MoveCircularRelative2D Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy UINT CircMode BOOL Active LREAL[ ] AuxPoint BOOL CommandAborted LREAL[ ] EndPoint BOOL Error...
  • Page 308 Chapter 6 Motion Function Blocks UINT TransitionMode Unused LREAL TransitionParameter Unused Output BOOL Done Indicate whether to reach the specified point. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Active Indicate that whether or not motion function block is controlling the group. BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
  • Page 309 Chapter 6 Motion Function Blocks (b) Circular Interpolation Using Center Point Specification (CircMode = 1) This method is to perform the circular interpolation to the target position by starting operation at the start position, and following a circular trajectory of which diameter corresponds to the distance to the designated center point. In the figure below, the current position corresponds to the axes group coordinate at the start of the command, the center point corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative coordinate input for the EndPoint.
  • Page 310 Chapter 6 Motion Function Blocks (a) Function block setting Center point End point (b) Timing diagram %MX1 MC_MoveCircularRelative2D.Done MC_MoveCircularRelative2D.Busy MC_MoveCircularRelative2D.Active 6-171...

  • Page 311: Synchronization Setting Of Conveyor Belt (Mc_Trackconveyorbelt)

    Chapter 6 Motion Function Blocks 6.7.8 Synchronization setting of conveyor belt (MC_TrackConveyorBelt) Motion Function Block MC_TrackConveyorBelt BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT ConveyorAxis Busy BOOL ARRAY[0..5] OF LREAL[ ] ConveyorOrigin Active BOOL ARRAY[0..5] OF LREAL[ ] ObjectPosition Error BOOL UINT...
  • Page 312 Chapter 6 Motion Function Blocks (3) ConveyorAxis can be set to between 1 and 32. An axis belonging to the axes group set as AxesGroup cannot be designated. (4) The operation parameter of the axis designated as ConveyorAxis must be in mm/inch. (5) Infinite running repeat must be set for the operation parameter of the axis designated as ConveyorAxis (6) Synchronized conveyor operation is terminated by performing coordinate system operation using the PCS coordinate system or performing PCS setting with MC_SetCartesianTransform function block.

  • Page 313: Synchronization Setting Of The Rotary Table (Mc_Trackrotarytable)

    Chapter 6 Motion Function Blocks 6.7.9 Synchronization setting of the rotary table (MC_TrackRotaryTable) Motion Function Block MC_TrackRotaryTable BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT UINT RotaryAxis Busy BOOL ARRAY[0..5] OF LREAL[ ] RotaryOrigin Active BOOL ARRAY[0..5] OF LREAL[ ] ObjectPosition Error BOOL...

  • Page 314: Jog Operation Of The Coordinate System (Mc_Robotjog)

    Chapter 6 Motion Function Blocks 6.7.10 JOG operation of the coordinate system (MC_RobotJog) Motion Function Block LS_RobotJog BOOL Enable Enabled BOOL AxesGroup UINT AxesGroup UINT BOOL Low_High Busy BOOL BOOL Pos_X Error BOOL BOOL Neg_X ErrorID WORD BOOL Pos_Y BOOL Neg_Y BOOL Pos_Z...
  • Page 315 Chapter 6 Motion Function Blocks Output BOOL Enabled It indicates that the axis group is in the process of JOG operation. BOOL Busy Indicate that the execution of motion function block is not completed. BOOL Error Indicate whether an error occurs or not. WORD ErrorID Output the number of error occurred while motion function block is running.

  • Page 316: Set Path Operation Data (Mc_Setmovepath)

    Chapter 6 Motion Function Blocks 6.7.11 Set path operation data (MC_SetMovePath) Motion Function Block LS_SetMovePath BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT ARRAY[] OF BYTE PathData PathData ARRAY[] OF BYTE UINT Step Busy BOOL UINT CommandType Active BOOL UINT Mode Error BOOL...
  • Page 317 Chapter 6 Motion Function Blocks Enter the target position of the end point of the machine. In the circular interpolation, the Central point/Waypoint should be set in Position LREAL[] Position [3] Position [4] Position [5]. In the circular interpolation, the Radius should be in Position [3]. LREAL Velocity Specify the maximum speed of the path.

  • Page 318: Delete Path Operation Data (Mc_Restmovepath)

    Chapter 6 Motion Function Blocks 6.7.12 Delete path operation data (MC_RestMovePath) Motion Function Block LS_ResetMovePath BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT ARRAY[] OF BYTE PathData Busy BOOL UINT Step Active BOOL Error BOOL ErrorID WORD Input-Output UINT AxesGroup Set the group to set the path operation data (1 ~ 16: Group 1 ~ Group 16) Input In the rising Edge, the command for deleting the path operation data is sent to...

  • Page 319: Read Path Operation Data (Mc_Getmovepath)

    Chapter 6 Motion Function Blocks 6.7.13 Read path operation data (MC_GetMovePath) Motion Function Block LS_GetMovePath BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT Busy BOOL ARRAY[] OF BYTE PathData Step Active BOOL UINT Error BOOL ErrorID WORD CommandType UINT Mode UINT CoordSystem UINT...
  • Page 320 Chapter 6 Motion Function Blocks Output the type of path operation. 0: None 1: Linear interpolation operation for the absolute position of the coordinate system, 2: Linear interpolation operation for the relative position of the coordinate system UINT CommandType 3: Circular interpolation operation for the absolute position of the coordinate system, 4: Circular interpolation operation for the relative position of the coordinate system UINT...

  • Page 321: Perform Path Operation (Mc_Runmovepath)

    Chapter 6 Motion Function Blocks 6.7.14 Perform path operation (MC_RunMovePath) Motion Function Block LS_RunMovePath BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT ARRAY[] OF BYTE PathData Busy BOOL UINT StartStep Active BOOL UINT EndStep CommandAborted BOOL Error BOOL ErrorID WORD CurStep UINT Input-Output...
  • Page 322 Chapter 6 Motion Function Blocks (5) If the CommandType of path data is 0 during the path operation, the operation is terminated even if EndStep is not reached. (6) If the path operation is executed, the current step number in operation is output to the CurStep. (7) For more details, refer to Section 8.4.11, "Path Operation of the Coordinate System ".

  • Page 323: Nc Control Function Block

    Chapter 6 Motion Function Blocks 6.8 NC Control Function Block 6.8.1 Specify NC program (NC_LoadProgram) Motion Function Block NC_LoadProgram BOOL Execute Done BOOL UINT NcChannel NcChannel UINT STRING ProgramName Busy BOOL UINT LoadMode Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command.

  • Page 324: Specify Block Operation (Nc_Blockcontrol)

    Chapter 6 Motion Function Blocks 6.8.2 Specify block operation (NC_BlockControl) Motion Function Block NC_BlockControl BOOL Enable Enabled BOOL UINT NcChannel NcChannel UINT BOOL SingleBlock Busy BOOL BOOL OptionalStop Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable...

  • Page 325: Reset (Nc_Reset)

    Chapter 6 Motion Function Blocks 6.8.3 Reset (NC_Reset) Motion Function Block NC_Reset BOOL Execute Done BOOL UINT NcChannel NcChannel UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Execute In the rising Edge, the NC is reset.
  • Page 326 Chapter 6 Motion Function Blocks Contents Status Action in operation Movement Cancel Dwell Cancel Issuance of M, S, T code Cancel Tool Length compensation MDI: Hold Other cancel Cutter compensation MDI: Hold Other cancel Storing called subprogram number MDI: Hold Other cancel Output Signal CNC Alarm signal AL...

  • Page 327: Emergency Stop (Nc_Emergency)

    Chapter 6 Motion Function Blocks 6.8.4 Emergency stop (NC_Emergency) Motion Function Block NC_Emergency BOOL Enable Status BOOL UINT NcChannel NcChannel UINT Valid BOOL Busy BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable...

  • Page 328: Start Automatic Operation (Nc_Cyclestart)

    Chapter 6 Motion Function Blocks 6.8.5 Start automatic operation (NC_CycleStart) Motion Function Block NC_CycleStart BOOL Execute Done BOOL UINT NcChannel NcChannel UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Execute...

  • Page 329: Feed Hold (Nc_Feedhold)

    Chapter 6 Motion Function Blocks 6.8.6 Feed hold (NC_FeedHold) Motion Function Block NC_FeedHold BOOL Enable Status BOOL UINT NcChannel NcChannel UINT Valid BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable The NC channel will be in Feed Hold status while the input is enabled.

  • Page 330: Homing (Nc_Home)

    Chapter 6 Motion Function Blocks 6.8.7 Homing (NC_Home) Motion Function Block NC_Home BOOL Execute Done BOOL UINT NcChannel NcChannel UINT Busy BOOL UINT NcAxis Active BOOL UINT ReferenceNum Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Execute...

  • Page 331: Rapid Traverse Override (Nc_Rapidtraverseoverride)

    Chapter 6 Motion Function Blocks 6.8.8 Rapid traverse override (NC_RapidTraverseOverride) Motion Function Block NC_RapidTraverseOverride BOOL Enable Enabled BOOL UINT NcChannel NcChannel UINT LREAL VelFactor Busy BOOL Error BOOL LREAL AccFactor ErrorID WORD LREAL JerkFactor Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable...

  • Page 332: Cutting Feed Override (Nc_Cuttingfeedoverride)

    Chapter 6 Motion Function Blocks 6.8.9 Cutting feed override (NC_CuttingFeedOverride) Motion Function Block NC_CuttingFeedOverride BOOL Enable Enabled BOOL UINT NcChannel NcChannel UINT Busy BOOL LREAL VelFactor Error BOOL LREAL AccFactor ErrorID WORD LREAL JerkFactor Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable...

  • Page 333: Spindle Override (Nc_Spindleoverride)

    Chapter 6 Motion Function Blocks 6.8.10 Spindle override (NC_SpindleOverride) Motion Function Block NC_SpindleOverride BOOL Enable Enabled BOOL UINT NcChannel NcChannel UINT LREAL VelFactor Busy BOOL Error BOOL LREAL AccFactor ErrorID WORD LREAL JerkFactor Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable...

  • Page 334: M Code Operation Completed (Nc_Mcodecomplete)

    Chapter 6 Motion Function Blocks 6.8.11 M Code operation completed (NC_McodeComplete) Motion Function Block NC_McodeComplete BOOL Execute Done BOOL UINT NcChannel NcChannel UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Execute...

  • Page 335: S Code Operation Completed (Nc_Scodecomplete)

    Chapter 6 Motion Function Blocks 6.8.12 S Code operation completed (NC_ScodeComplete) Motion Function Block NC_ScodeComplete BOOL Execute Done BOOL UINT NcChannel NcChannel UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Execute...

  • Page 336: T Code Operation Completed (Nc_Tcodecomplete)

    Chapter 6 Motion Function Blocks 6.8.13 T Code operation completed (NC_TcodeComplete) Motion Function Block NC_TcodeComplete BOOL Execute Done BOOL UINT NcChannel NcChannel UINT Busy BOOL Error BOOL ErrorID WORD Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Execute...

  • Page 337: Read Nc Parameters (Nc_Readparameter)

    Chapter 6 Motion Function Blocks 6.8.14 Read NC parameters (NC_ReadParameter) Motion Function Block NC_ReadParameter BOOL Enable Valid BOOL UINT NcChannel NcChannel UINT UINT NcAxis Busy BOOL ParameterGroup Error BOOL ParameterNumber ErrorID WORD Value LREAL Input-Output UINT NC channel Set the NC channel to make the command. Input BOOL Enable...
  • Page 338 Chapter 6 Motion Function Blocks (5) The group number and the number in the group of each parameter are as follows. Parameters Group Item Description 1. Channel 1. Basic Target machining quantity Set the target machining quantity. parameters setting (0 ~ 2,147,483,647) Target machining quantity Set the target machining quantity for repeated at M99 repeated...
  • Page 339 Chapter 6 Motion Function Blocks Parameters Group Item Description 1. Channel 1. Basic Whether or not to search The number of buffers that can store the program’s parameters setting the Statement Number Statement Number (N__) is limited to 1,000 in the system.
  • Page 340 Chapter 6 Motion Function Blocks Parameters Group Item Description 1. Channel 1. Basic Monitoring time for in- 0 ~ 65,535ms parameters setting position completion 2. Circular Regenerate the circular Set whether to recreate the central point of the arc milling setting center when the circular without generating an arc alarm when the distance alarm occurs...
  • Page 341 Chapter 6 Motion Function Blocks Parameters Group Item Description 1. Channel 3. Cutting Operating method of the When executing the consecutive blocks, it creates parameters feed setting continuous blocks for the connecting trajectory that draws an arc on the acceleration / deceleration corner of the connecting trajectory with the speed set before interpolation with the next block.
  • Page 342 Chapter 6 Motion Function Blocks Parameters Group Item Description 1. Channel 9. Tool length Compensation amount 1 Compensation amount 1 to be used to compensate parameters compensation of the tool length the tool length …… …… …… Compensation amount Compensation amount 128 to be used to 128 of the tool length compensate the tool length Whether to use the...
  • Page 343 Chapter 6 Motion Function Blocks Parameters Group Item Description 1. Channel G59 workpiece coordinate Set the G59 workpiece coordinate system values for parameters Workpiece system value 1 the X axis. coordinate …… …… Set the G59 workpiece coordinate system values for system the 7 axes;...
  • Page 344 Chapter 6 Motion Function Blocks Parameters Group Item Description 1. Channel 14. Default Modal traverse of default If there is no G00 or G01, select the G code to be parameters setting settings applied as the default modal. 0: Rapid Traverse(G00) 1: cutting feed(G01) Modal plane of default If there is no G code instruction for G17, G18, G19...
  • Page 345 Chapter 6 Motion Function Blocks Parameters Group Item Description 2. Channel 2. Origin Coordinates of the 2 Set the coordinates of the 2 origin. /Axis origin parameters Coordinates of the 3 Set the coordinates of the 3 origin. origin Coordinates of the 4 Set the coordinates of the 4 origin.

  • Page 346: Write Nc Parameters (Nc_Writeparameter)

    Chapter 6 Motion Function Blocks 6.8.15 Write NC parameters (NC_WriteParameter) Motion Function Block NC_WriteParameter BOOL Execute Done BOOL NcChannel UINT NcChannel UINT UINT NcAxis Busy BOOL ParameterGroup Error BOOL ParameterNumber ErrorID WORD LREAL Value UINT ExecutionMode Input-Output UINT NC channel Set the NC channel to make the command.

  • Page 347: Chapter 7 Program

    Chapter 7 Program Chapter 7 Program 7.1 Program Configuration The program of the motion controller is divided into main task program, periodic task program and initialization task program. The features of each program in execution are as follows. 7.1.1 Program Configuration The motion controller's initialization, main and periodic task programs are executed based on the cycle.

  • Page 348: How To Set The Program

    Chapter 7 Program 7.1.2 How to Set the Program 1) How to set the main task program In the main task location, click the right mouse button and click 『Add item』-『Program』. (However, when creating the project, the main task program is already created.) 2) How to set the cycle task program In the cycle task location, click the right mouse button and click 『Add item』-『Program』.
  • Page 349 Chapter 7 Program 3) How to set the initialization task program (1) In the initialization task location, click the right mouse button and click 『Add item』-『Program』. (2) Create the necessary initialization program. Make sure to write the INIT_DONE command in the initialization task program.

  • Page 350: Run Time Of The Program

    Chapter 7 Program 7.1.3 Run Time of the Program The execution time (scan time) of each task program is calculated as follows. It means the time required from the start of each control cycle to the time when the motion control execution is done, that is, the time required to complete the task. 1) Run time of the main task It means the time from the start of the main task cycle to the time when the motion control execution is done.
  • Page 351 Chapter 7 Program (1) Using XG5000: Click 『Online』-『Diagnosis』-『PLC Information』-『Performance』. (2) Using the flag: The scan time is stored in the system flag(F) area below. WORD Flag Description %FW512 _PTASK_SCAN_MAX Maximum scan time of main task program (Unit:100us) %FW513 _PTASK_SCAN_MIN Minimum scan time of main task program (Unit:100us) %FW514 _PTASK_SCAN_CUR Current scan time of main task program (Unit:100us)

  • Page 352: Status Information Reading

    Chapter 7 Program 7.2 Status Information Reading In the program of motion control modules, each axis, status of axis group and operating status of the motion control module can be checked with the flag. Most of the program examples of chapter 7 is created using flags that indicate axis and status of axis group. Flags that indicate the status information can be used directly in the program, and can be delivered to PLC CPU by being assigned to a shared device of the motion control module.

  • Page 353: Discrete Motion Program

    Chapter 7 Program 7.3 Discrete Motion Program 7.3.1 Preparation for Operation These are example programs that make access to servo drive connected with Ethernet cable and get the connected servo drive to be On to operate EtherCAT servo drive (2) 1 Scan on (2) 1Axis/2Axis ready off (3) Connect EtherCAT (3) 1Axis//2Axis...

  • Page 354: Homing Operation

    Chapter 7 Program 7.3.2 Homing Operation Homing is carried out to set the origin of the machine after the power is applied. Since homing is performed in the servo drive, homing methods may vary depending on servo drive manufacturers. In motion control module, the completion of homing command and error situation is monitored, and the position of the origin after homing is applied to control.
  • Page 355 Chapter 7 Program (3) Axis error/Warning status flag : If there are errors and warnings in the axis, it is On. (4) Axis servo-on status flag : If the axis is in servo-on state, it is On, and servo-off state, it becomes Off. (5) Axis operation status flag : If the axis is in operation, it is On.

  • Page 356: Absolute Position/Relative Position Operation

    Chapter 7 Program 7.3.3 Absolute Position/Relative Position Operation It is a program for absolute position and relative position operation using motion control module. The absolute positon is based on the origin and, and relative position the current position. (1) Command condition (2) Axis connection status (4) Axis servo-on status (3) Axis error/...
  • Page 357 Chapter 7 Program (1) Command condition : It is a condition to make the axis perform position control operation. (2) Axis connection state flag : If the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.
  • Page 358 Chapter 7 Program - Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode input”.

  • Page 359: Speed/Torque Control Operation

    Chapter 7 Program 7.3.4 Speed/Torque Control Operation These are example programs for speed control and torque control operation using motion control modules. In case of the torque control, torque control of servo drive is used, and in motion control module, command for executing torque control is issued, and execution completion and status is monitored.
  • Page 360 Chapter 7 Program (1) Command condition : It is a condition to make the axis perform speed control/torque control operations. (2) Axis connection state flag : In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.
  • Page 361 Chapter 7 Program (9) Speed control operation command output variable : It is a variable to store output values generated when specified velocity operation (MC_MoveVelocity) motion function block is executed. - Reaching the set speed completed: When the set speed is reached through speed control operation, it is On. - Function Block in execution: If motion function block is being performed, it is On, and operation is completed, it becomes Off.

  • Page 362: Axis Stop

    Chapter 7 Program 7.3.5 Axis Stop It is an example program to stop the axis in operation. The motion function block to stop the axis in operation includes “Immediate Stop (MC_Stop)” and “Halt (MC_Halt)”. As a command to implement emergency stop of the axis, “Immediate Stop (MC_Stop)” performs “Immediate Stop (MC_Stop)”, and other motion function blocks cannot be executed during the stop.
  • Page 363 Chapter 7 Program (1) Command condition : It is a condition to give emergency stop/axis stop commands to the axis. (2) Axis connection state flag : In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 364: Error Processing

    Chapter 7 Program 7.3.6 Error Processing It is an example program to check the errors that occurred on the axis and conduct error reset. (1) Command condition (2) Axis connection status (4) Comparison of axis error number (3) Axis error/ warning status (7) Error reset command output variables - Execution completed...
  • Page 365 Chapter 7 Program (1) Command condition : It is a condition to give error reset commands to the axis. (2) Axis connection status flag : In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 366: Change In Operation

    Chapter 7 Program 7.3.7 Change in Operation It is an example program to change the current location of the axis and speed in operation. (1) Command condition (2) Axis connection status (4) Axis operation status (3) Axis error/ warning status (7) Current position change (6) Velocity override command input variables command output variables...
  • Page 367 Chapter 7 Program (1) Command condition : It is a condition to give current location change/operating speed change commands to the axis. (2) Axis connection state flag : In case the axis is to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 368: Parameter Write/Read

    Chapter 7 Program 7.3.8 Parameter Write/Read Parameter read/write commands include “Parameter Write (MC_WriteParameter)” and Parameter Read (MC_ReadParameter)” as well as “SDO Write (LS_WriteSDO)” and “SDO Read (LS_ReadSDO)”. “Parameter Write (MC_WriteParameter)” and “Parameter Read (MC_ReadParameter)” are commands to write and read operation parameters of the axis or encoder parameter, and “SDO Write (LS_WriteSDO)”...
  • Page 369 Chapter 7 Program (1) Command condition : It is a condition to read parameters and serve parameters of the axes. (2) Axis connection state flag : In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.
  • Page 370 Chapter 7 Program Number Parameter Item Settings LREAL (positive) [Unit/s] JOG high speed (JOG low speed ~ Speed limit) LREAL (positive) [Unit/s] JOG low speed (< JOG high speed) Extended LREAL (positive) [Unit/s JOG Acceleration Parameter LREAL (positive) [Unit/s JOG Deceleration LREAL (positive) [Unit/s JOG Jerk 0: Percent ,1: Set value...
  • Page 371 Chapter 7 Program (7) Servo parameter read command read input variables : These are input variables to execute Servo Parameter Read (LS_ReadSDO) motion function block. - Command axis: It sets the axis in which motion function block is executed. - Servo parameter index number, SubIndex number, size: Each value is set in servo parameters to read. Refer to the instruction manual of the servo drive for index number, subindex number and size of servo parameters.
  • Page 372 Chapter 7 Program  Parameter Write (1) Command condition (3) Axis error/warning status (2) Axis connection status (4) Axis operation status (6) Parameter write command input variables - Command axis - Parameter number (7) SDO write command input variables - Parameter value to write - Command slave - Execution mode - SDO Index number...
  • Page 373 Chapter 7 Program (1) Command condition : It is a condition to write parameters and servo parameters of the axes. (2) Axis connection state flag : In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 374: Multi-Axis Operation Program

    Chapter 7 Program 7.4 Multi-Axis Operation Program 7.4.1 Linear Interpolation Operation It is an example program to operate linear interpolation with axes set to the same group. In the example program, 1-axis and 2- axis are assumed to be included in the same axis group. Refer to the example program of “7.4.5 Axis group processing” to include an axis in axis group or remove the axis from axis group.
  • Page 375 Chapter 7 Program (1) Command condition : It is a condition to give linear interpolation command to the axis group. (2) Axis group connection state flag : In case axes of the axis group to be operated are connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 376: Circular Interpolation Operation

    Chapter 7 Program 7.4.2 Circular Interpolation Operation It is an example program to operate circular interpolation operation with axes set to the same group. In the example program, 1- axis and 2-axis are assumed to be included in the same axis group. Refer to “7.4.5 Axis group processing” to include an axis in axis group or remove axis from axis group.
  • Page 377 Chapter 7 Program (1) Command condition : It is a condition to give circular interpolation command to the axis group. (2) Axis group connection state flag : In case axes of the axis group to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 378: Synchronous Operation

    Chapter 7 Program 7.4.3 Synchronous Operation It is an example program on the synchronous operation in which serve axis moves in synchronization ratio set in the main axis. (1) Command condition (2) Axis connection status (4) Axis operation status (3) Axis error/warning status (5) 2 axis synchronous operation/Synchronous operation cancellation commands (6) Synchronous command input variables...
  • Page 379 Chapter 7 Program (1) Command condition : It is a condition to give synchronous operation/synchronous operation cancellation commands to the axis. (2) Axis connection state flag : When axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.
  • Page 380 Chapter 7 Program (7) Synchronous operation command output variable : It is a variable to store output values generated when electronic gear operation (MC_GearIn) motion function block is executed. - Synchronous operation: When serve axis is normally synchronized in main axis after the execution of motion function block, it is On.

  • Page 381: Cam Operation

    Chapter 7 Program 7.4.4 CAM Operation It is an example program on the cam operation that moves in synchronization based on cam (CAM) profile in which serve axis is set. (1) Command condition (2) Axis connection status (3) Axis error/warning status (4) Axis operation status (5) 2 axis cam operation/ Cam operation cancellation commands...
  • Page 382 Chapter 7 Program (1) Command condition : It is a condition to give cam operation/cam operation cancellation commands to the axis. (2) Axis connection state flag : When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 383: Axis Group Processing

    Chapter 7 Program 7.4.5 Axis Group Processing (1) Command condition (2) Group connection status (3) Error/Wrarnig status (4) Group operation status (6) Remove axis from group (7) Add axis to group command command input variable output variables - Axis group - Execution completed - The axis ID on axis group ID - Function block in execution...
  • Page 384 Chapter 7 Program (1) Command condition : It is a condition to give add axis to group/remove axis from group commands to the axis. (2) Axis connection status flag : In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is normally performed, it is On.

  • Page 385: Operation Example Of Axis Group

    Chapter 7 Program 7.4.6 Operation Example of Axis Group 1. Group Setting 2. Servo On 7-39...
  • Page 386 Chapter 7 Program 3. Group Enable 4. Group Homing 7-40...
  • Page 387 Chapter 7 Program 5. Linear Interpolation 7-41...
  • Page 388 Chapter 7 Program 6. Group Disable 7. Ungroup 7-42...
  • Page 389 Chapter 7 Program 8. Timing diagram 7-43...
  • Page 390 Chapter 7 Program 7-44...

  • Page 391: I/O Processing Program

    Chapter 7 Program 7.5 I/O Processing Program Motion controller has the input of 8 points and output of 16 points internal, and it can expand input and output points using external EtherCAT input/output modules. EtherCAT input and EtherCAT output modules possible to be mounted on the outside can be expanded up to 64 stations and up to 1,024 points.

  • Page 392: Chapter 8 Motion Control Function

    Chapter 8 Motion Control Function Chapter 8 Motion Control Function 8.1 Origin Determination In case the position control function of motion controller is used, the origin must be determined first to execute commands based on the absolute coordinate position. The position value of absolute coordinates is the distance based on the predetermined origin(0 position).

  • Page 393: Homing

    Chapter 8 Motion Control Function Change to the origin indetermination status The absolute position control operation cannot be performed since motion control module becomes the origin indetermination status in the following cases. (1) In case of re-connection after servo drive power off when using an incremental encoder (2) In case of re-connection after PLC power off/on when using an incremental encoder (3) In case homing is not normally completed after the execution of homing command In case of the origin indetermination status as above, the origin determination should be executed for absolute coordinate...
  • Page 394 Chapter 8 Motion Control Function ■ Example of setting homing parameters  Relevant motion function block Name Description Operation Condition MC_Home Edge Perform homing MC_Home BOOL Execute Done BOOL UINT Axis Axis UINT LREAL Position Busy BOOL UINT BufferMode Active BOOL CommandAborted BOOL...
  • Page 395 Chapter 8 Motion Control Function 2. XDL- N Series servo drive homing parameters and operation The following figure shows input and output definitions of homing-related XDL N series servo drive parameters. The velocity, acceleration and homing methods can be specified. Here, the origin (Home) offset gets the origin of user coordinate system applied as the origin.
  • Page 396 Chapter 8 Motion Control Function (2) Homing Method(0x6098) Value Description No Homing 1, 2 (1) If NOT switch is Off, the initial movement direction becomes forward direction CW. If NOT switch is On, change of direction is made. The location that meets the first index pulse during operation in reverse direction CCW after NOT switch is On becomes the Home position.
  • Page 397 Chapter 8 Motion Control Function Value Description 7~10 11~14 The methods described for 11 to 14 determines the Home position using the Home switch and the NOT switch. (11) Upper figure: If the NOT switch is Off, then the drive operates at switch search speed and rotates CW. If the Home switch is turned on at this time, it changes the direction of rotation, and the position that the first index pulse encounters while driving CCW at zero search speed becomes the Home position.
  • Page 398 Chapter 8 Motion Control Function Value Description (8) The Home position is determined as in (8) method, but index pulse is not used. In addition, the point where the Home switch is On/Off becomes the Home position.
  • Page 399 Chapter 8 Motion Control Function Value Description (12) The Home position is determined as in (12) method, but index pulse is not used. In addition, the point where the Home switch is On/Off becomes the Home position. 33, 34 The location that meets index pulse first during movement in the reverse direction CCW/forward direction CW becomes the Home position.

  • Page 400: Type Of Control Operation

    Chapter 8 Motion Control Function 8.2 Type of Control Operation Motion control modules execute control through programs set in motion control program. Kinds of motion control operations include speed position control, speed velocity control, speed torque control, interpolation control, switching control between position/velocity, switching control between position/torque, and switching control between velocity/torque.
  • Page 401 Chapter 8 Motion Control Function (b) 1-Forward direction Positioning is executed toward the absolute position of forward direction. In case the target position is set with the range that exceeds infinite running repetition position, error (error code: 0x1081) occurs. [Example] The absolute position operation is executed with the following settings. Infinite running repetition position: 100.0 Starting position: 60.0 Target position: 40.0...
  • Page 402 Chapter 8 Motion Control Function (c) 2-Shortest distance direction Positioning is executed by automatically determining the direction of rotation possible to move through shorter distance from the starting position to target position. That is, positioning toward closer direction to target position based on the starting position is carried out.
  • Page 403 Chapter 8 Motion Control Function (e) 4- Current direction Positioning is executed depending on the current operating direction. In case the current operating direction is forward, operation is made in the same way as in Direction=‘1-forward direction’ setting. In case the current operating direction is reverse, operation is made in the same way as in Direction=‘3 reverse direction’...
  • Page 404 Chapter 8 Motion Control Function 2. Control by Incremental method (「Relative positioning operation(MC_MoveRelative)」) (1) 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 starting position. (2) Transfer direction is determined by the sign of moving amount.

  • Page 405: Single-Axis Speed Control

    Chapter 8 Motion Control Function 8.2.2 Single-axis Speed Control Execution is made by motion function block(「Specified velocity operation (MC_MoveVelocity)」), and operation is performed at the set velocity until stop condition is inputted. 1. Features of Control (1) Speed control operation of the specified axis is executed using specified velocity and acceleration/deceleration. The velocity control is executed through a method to transmit the target position value that corresponds to the target velocity using position control of servo drive.
  • Page 406 Chapter 8 Motion Control Function 3. Operation Timing 8-15...

  • Page 407: Single-Axis Torque Control

    Chapter 8 Motion Control Function 8.2.3 Single-axis Torque Control If motion function block(「Torque control(MC_TorqueControl)」) is executed, torque control of the axis is made with the set torque value. 1. Features of Control (1) Torque control of the specified axis is made using target torque value and torque rising slope. (2) Torque rising slope (TorqueRamp) is the rate of change in torque per second to the target torque, and time to reach the target torque can be calculated as follows.
  • Page 408 Chapter 8 Motion Control Function 2. Relevant motion function block Name Description Operation Condition MC_TorqueControl Edge Torque Control MC_TorqueControl BOOL Execute InTorque BOOL UINT Axis Axis UINT BOOL ContinousUpdate Busy BOOL LREAL Torque Active BOOL LREAL TorqueRamp CommandAborted BOOL LREAL Velocity Error BOOL...

  • Page 409: Specified Velocity Operation After Position Operation

    Chapter 8 Motion Control Function 8.2.4 Specified Velocity Operation after Position Operation Speed control of the axis specified after being executed by motion function block (「Specified speed operation after relative position 「Specified operation (MC_MoveContinuousRelative)」 speed operation after absolute position operation (MC_MoveContinuousAbsolute)」) is carried out after the execution of position control that ends with end rate specified from starting position (current stop position) to target position (position of point to move) at the rate specified in end velocity (EndVelocity) if there are no pending commands.
  • Page 410 Chapter 8 Motion Control Function Name Description Operation Condition Specified velocity operation after MC_ MoveContinuousRelative Edge Relative position operation MC_MoveContinousRelative BOOL Execute InEndVelocity BOOL UINT Axis Axis UINT BOOL ContinousUpdate Busy BOOL LREAL Distance Active BOOL LREAL EndVelocity CommandAborted BOOL LREAL Velocity Error...

  • Page 411: Switching Control

    Chapter 8 Motion Control Function 8.2.5 Switching Control In motion control module, switching control means real-time control switch between position control / velocity control / torque control. In case the control mode that is currently being executed (position control, velocity control, torque control) are intended to change to a different control mode immediately, BufferMode of commands is to be set to Aborting, and relevant motion function block is to be executed.
  • Page 412 Chapter 8 Motion Control Function 7. Example of using switching control Execute First Done CommandAborted Test Second Finish Position Control Velocity Control 3000 Velocity 2000 Position Time 8-21...

  • Page 413: Axis Group Control

    Chapter 8 Motion Control Function 8.2.6 Axis Group Control Axis group control is a function to control the trajectory of moving objects by setting involved multiple axes into one axis group. For axis group control, axis group is to be set. Axis group operation includes linear interpolation, circular interpolation and helical interpolation.
  • Page 414 Chapter 8 Motion Control Function (3) Remove all axes from group It means removing all axes from the axis group. Name Description Operation Condition MC_UngroupAllAxes Edge Remove all axes from group MC_UngroupAllAxes BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT Busy BOOL Error...

  • Page 415: Linear Interpolation Control

    Chapter 8 Motion Control Function 8.2.7 Linear Interpolation Control Interpolation of multiple axes from staring point (current stop position) to target position is performed with linear trajectory by using relevant axes set in the axis group. Linear interpolation can be performed up to 10 axes. 1.
  • Page 416 Chapter 8 Motion Control Function Speed of each-axis and operating speed are as follows.  Interpolat inspeed Operations peedsetinp ositiondat     Interpolat ingmovinga mount Main axismoving amount   Axis speed Interpolat ingspeed Interpolat ingmovinga mount  axis movingamou ...
  • Page 417 Chapter 8 Motion Control Function (7) Operation Timing Starting position: (1000.0, 4000.0) Target position: (10000.0, 1000.0) Target velocity: 10000.0 ※ Velocity of each configuration axis is approximate estimate. 8-26...
  • Page 418 Chapter 8 Motion Control Function 2. Linear interpolation control with relative coordinates (「Relative positioning interpolation operation (MC_MoveLinearRelative)」) (1) Linear interpolation is executed from starting position to movement direction targeted by each axis and position t includes movement direction. Positioning control is based on the current stop position. (2) Movement direction is determined by the sign set in the target position (movement distance) of each axis.
  • Page 419 Chapter 8 Motion Control Function (5) Relevant motion function block Name Description Operation Condition Relative positioning linear MC_MoveLinearRelative Edge interpolation operation MC_MoveLinearRelative Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy LREAL[ ] Distance BOOL LREAL Velocity Active BOOL CommandAborted LREAL Acceleration BOOL...

  • Page 420: Circular Interpolation Control

    Chapter 8 Motion Control Function 8.2.8 Circular Interpolation Control Interpolation operation is performed along the trajectory of the circle in the direction of axis progress set by using two axes set in the axis group. There are three kinds of methods for circular interpolation such as midpoint method that passes through the position specified in auxiliary point, center point method that considers the position specified in auxiliary point as center point and radius method that takes the value specified in auxiliary point as the radius of an arc depending on ‘CircMode’...
  • Page 421 Chapter 8 Motion Control Function (5) Operation pattern Starting positon: (0.0, 0.0) Target position: (10000.0, 6000.0) Middle point: (2000.0, 6000.0) Method(CircMode): Middle point(0) Direction(PathChoice): - (Ignored in middle point method) 8-30...
  • Page 422 Chapter 8 Motion Control Function 2. Circular interpolation using center point specification method (1) Circular interpolation is performed from starting position to target position along the trajectory of the arc that takes the distance to the specified center point position as radius. (2) Movement direction is determined by the direction set in “PathChoice”...
  • Page 423 Chapter 8 Motion Control Function (4) Restrictions Circular interpolation by center point specification method cannot be executed in the following cases. • In case there is an axis which is in the origin undetermined state among configuration axes at the time of absolute coordinate circular interpolation operation (error code: 0x20A0) •...
  • Page 424 Chapter 8 Motion Control Function 3. Circular interpolation using radius specification method (1) Circular interpolation is performed from starting position to target position along the trajectory of the arc that takes the value set in circular interpolation auxiliary point. The arc that has center point depending on the sign of radius ((+): arc angle <180°, (-): arc angle>=180°) is drawn.
  • Page 425 Chapter 8 Motion Control Function (5) Operation patterns Starting position: (1000.0, 1000.0) Target position: (9000.0, 1000.0) Serve position: (5000.0, 0.0) Method(CircMode): Radius(2) Direction(PathChoice): CW(0) 「CW, Arc<180°」 Sub-axis Circular interpolation action Forward Goal position Starting position 1000 (9000,1000) (1000,1000) Main-axis Main-axis Reverse Forward 1000...
  • Page 426 Chapter 8 Motion Control Function (2) Relative positioning circular interpolation operation Name Description Operation Condition Relative positioning circular MC_MoveCircularRelative Edge interpolation operation MC_MoveCircularRelative Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy UINT CircMode BOOL LREAL[ ] AuxPoint Active BOOL CommandAborted LREAL[ ] EndPoint...
  • Page 427 Chapter 8 Motion Control Function (4) Restrictions The restrictions of helical interpolation are the same as those of circular interpolation according to the set circular interpolation modes. (5) Operation pattern Starting position: (650.0, 400.0, 0) Target position: (400.0, 1200.350) Center position: (400.0, 800.0, 0) Method(CircMode): Center point(1) Direction(PathChoice): CCW(1) Goal position...

  • Page 428: Axis Control Buffer Mode

    Chapter 8 Motion Control Function 8.2.9 Axis Control Buffer mode Cancellation of the existing axis motions and continued or continuous operation of them can be carried out by executing other motion function block while the axis is in operation. The motions are specified by entering buffer mode (BufferMode) in motion function block. In axis control the maximum number of runs that can be queued in the buffer is 10.
  • Page 429 Chapter 8 Motion Control Function Buffer Mode “Buffered” It execute the next command after the completion of the existing commands in execution (Done output is On). Buffer Mode “BlendingLow” It combines operation so that operation can be made at lower velocity in a comparison between the target velocity of the existing commands in execution at the time of command completion and that of buffered command.
  • Page 430 Chapter 8 Motion Control Function Buffer Mode “BlendingNext” It executes the next command after acceleration/deceleration so that operation can be performed at the target velocity of the next command at the point of time when the existing commands in execution are completed. Buffer Mode “BlendingHigh”...

  • Page 431: Axis Group Control Buffer Mode And Transition Mode

    Chapter 8 Motion Control Function 8.2.10 Axis Group Control Buffer Mode and Transition Mode In axis group control as in speed control, motion commands can be executed continuously by using buffer mode, and the maximum number of runs that can be queued in the buffer is 10. In case of executing commands with buffer mode which is more than that, error (error code: 0x2022) occurs.
  • Page 432 Chapter 8 Motion Control Function ‘TransitionMode’ (1) TMNone Motion trajectory is not changed, and curve is not inserted between the two operations. In case buffer mode is Blending in this setting, Buffered mode is operated. Motions according to the buffer mode are the same as the above Aborting and Buffered. (2) TMCornerDistance Ther curve can be inserted by specifying the distance of two motion block corners.

  • Page 433: Synchronous Control

    Chapter 8 Motion Control Function 8.2.11 Synchronous Control 1. Gear operation (1) Gear operation makes speed synchronization of main axis (or encoder) and serve axis depending on the set ratio. (2) Gear operation can be aborted with gear operation cancellation command. (3) Gear ratio (=velocity synchronization ratio) is calculated as follows.
  • Page 434 Chapter 8 Motion Control Function Name Description Operation Condition LS_VarGearIn Edge Variable Gearing run LS_VarGearIn BOOL Execute InGear BOOL UDINT VarOffset VarOffset UINT UINT Slave Slave UINT BOOL ContinousUpdate Busy BOOL RatioNumerator Active BOOL UINT RatioDenominator CommandAborted BOOL UINT MasterValueSource Error BOOL LREAL...
  • Page 435 Chapter 8 Motion Control Function 8-44...
  • Page 436 Chapter 8 Motion Control Function (4) Relevant motion function block Name Description Operation Condition MC_GearInPos Edge Gearing by specifying the position MC_GearInPos BOOL Execute InSync UINT UINT Master Master UINT UINT Slave Slave BOOL RatioNumerator StartSync BOOL UINT RatioDenominator Busy BOOL UINT MasterValueSource...
  • Page 437 Chapter 8 Motion Control Function 캠 데이터 서보 모터 (3) A total of 32 cam profiles can be generated, each of which can be applied to each axis regardless of their order. (4) Each cam profile consists of 100 cam data. (5) To halt cam operation, MC_CamOut command should be issued on the sub-axis, or another motion function block should be operated (in case of Aborting).
  • Page 438 Chapter 8 Motion Control Function Using offset may change the start position for cam operation, causing an abrupt operation. In such a case, MasterSyncPosition, MasterStartDistance should be used. Before After applying applying Serve axis Position Main, Serve axis Main axis starting point Position MasterOffset...
  • Page 439 Chapter 8 Motion Control Function Synchronization Synchronized Operation section section Serve axis Position Cycle 1 Cycle 2 Cycle 3 SlaveOffset Main axis Camming run MasterSyncPosition Position Start Position MasterOffset MasterStartDistance In case MasterScaling is 1.0 Synchronization Synchronized Operation section section Serve axis Position SlaveOffset...
  • Page 440 Chapter 8 Motion Control Function Main axis Position MasterSyncPosition MasterStartDistance Synchronization Synchronized operation section Time section Serve axis Position Time InSync EndOfProfile 1 Scan (e) At StartMode, the cam operation mode is set. The setting range is either 0 or 1. If the input value exceeds the setting range, an error occurs.
  • Page 441 Chapter 8 Motion Control Function (8) Motion function block Operation Name Description condition MC_CamIn Edge Cam operation MC_CamIn BOOL Execute InSync BOOL UINT Master Master UINT UINT Slave Slave UINT LREAL ContinousUpdate Busy BOOL LREAL MasterOffset Active BOOL LREAL SlaveOffset CommandAborted BOOL LREAL...
  • Page 442 Chapter 8 Motion Control Function Operation Name Description condition LS_VarCamIn Edge Variable Cam operation LS_VarCamIn BOOL Execute InSync BOOL UDINT VarOffset UINT VarOffset UINT Slave Slave UINT LREAL ContinousUpdate Busy BOOL LREAL MasterOffset Active BOOL LREAL SlaveOffset CommandAborted BOOL LREAL MasterScaling Error BOOL...
  • Page 443 Chapter 8 Motion Control Function Cam period 3 times skip Slave position Master position EndOfProfile Execute Active Done CoveredSkipCount (3) After the execution of cam motion by MC_CamIn command (FB1), if three cycles are skipped using LS_CamSkip command (FB2), the output of each function block FB1 and FB2and the motion of the cam sub-axis are as displayed as shown in the figure below (4) If Cam Skip command is re-executed during cam skip motion, or cam skip motion is aborted by another Cam Skip command, the SkimCount of the latter Cam Skip command applies, and a new cam skip motion starts from the beginning.

  • Page 444: Manual Control

    Chapter 8 Motion Control Function 8.2.12 Manual Control Jog operation (1) Jog operation makes positioning control by manual jog commands of users. (2) Jog operation is possible even in the state in which the origin of the axis is not determined. (3) Jog commands are executed even in the origin determined or undetermined status, which makes it possible to monitor changes in position values of the axis.
  • Page 445 Chapter 8 Motion Control Function (8) Operation Timing 8-54...

  • Page 446: Superimposed Operation

    Chapter 8 Motion Control Function 8.2.13 SuperImposed Operation SuperImposed operation executes the positioning control additionally as much as the moving distance designated in the current motion operation. Features of control (1) When SuperImposed operation command is executed, the axis moves from the point at the time of command execution to the target distance specified in the Distance input.
  • Page 447 Chapter 8 Motion Control Function Limitation In the following cases, SuperImposed operation cannot be performed due to errors. (1) SuperImposed command is executed during velocity control or torque control operation (Error Code: 0x1082) (2) MC_HaltSuperImposed command is executed when SuperImposed operation is not being performed (Error Code: 0x1083) Operation timing FB_Sup1...

  • Page 448: Phase Correction Control

    Chapter 8 Motion Control Function 8.2.14 Phase Correction Control Phase correction control performs phase correction for the main-axis of the axes during synchronization control operation. It performs a virtual movement of the position of the main-axis which the sub-axis refers to in synchronization control operation, and the sub-axis performs synchronized operation to the moved main-axis position.
  • Page 449 Chapter 8 Motion Control Function Operation timing Phase corretion Master axis Master ax is ref erenced from the slave axis amount position Master axis Time Real master axis position velocity Phase corretion velocity Target velocity Cam operation reflected from the Slave axis Time phase correction...

  • Page 450: Other Functions

    Chapter 8 Motion Control Function 8.3 Other Functions 8.3.1 Functions to Change Control Changes in input variables of motion function block in execution (1) In case there is no ContinuousUpdate input in motion function block, or execution (Execute input enabled) is made when ContinuousUpdate input is Off, the motion function block is operated with the input at the time when Execute input is On(rising Edge) applied.
  • Page 451 Chapter 8 Motion Control Function (2) In case ContinuousUpdate input is On in Edge operation motion function block, the input at the time when Execute input is On (rising Edge) is applied to the motion function block if Execute input is On, and the motion function block makes a motion to reflect the change if the input is changed while ContinuousUpdate input is On.
  • Page 452 Chapter 8 Motion Control Function 2. Position override (1) It is a function to override the target position of the axis in position operation. Override function is enabled by suing ContinuousUpdate input of the position operation motion function block. When the position operation motion function block is being executed, the position operation to reflect changed objectives is performed by tuning Execute input On again by changing the target position after turning ContinuousUpdate input of the motion function block On.
  • Page 453 Chapter 8 Motion Control Function 3. Velocity, Acceleration/Deceleration, Jerk override (1) It is a function to conduct velocity, acceleration/deceleration and jerk override of the specified axis (2) It can override velocity, acceleration/deceleration, jerk to absolute value using ContinuousUpdate input of the motion function block in operation.
  • Page 454 Chapter 8 Motion Control Function [Example] Changes in velocity using override (MC_SetOverride) motion function block 8-63...
  • Page 455 Chapter 8 Motion Control Function Changes in the current position (1) It is a function to change the current position of the axis to the value specified by users. (2) In Position input, the position is specified. In case Relative input is Off state when command is executed, the position of the axis is replaced with the Position input value, and in case Relative input is On state, Position input value is added to the current position of the axis.
  • Page 456 Chapter 8 Motion Control Function Infinite running operation (1) Infinite running repetition function is to perform periodic updates on the display values of the command position and current position automatically with values set in ‘infinite running repetition position’ among expansion parameters of operating parameters.

  • Page 457: Auxiliary Function Of Control

    Chapter 8 Motion Control Function 8.3.2 Auxiliary Function of Control 1. Hardware high/low limit (1) It is used to make a sudden stop of servo drive before reaching lower limit/upper limit of the machine side by installing high/low limit switch in the inside of the high/low limit, the physical operating range of the machine side. In this case, the range is out of the upper limit, error ‘0x1200’...
  • Page 458 Chapter 8 Motion Control Function Soft high/low limit (1) Software stroke high/low limit is a function that does not perform the operation in out of the range of soft high/low limit set by users. (2) Software stroke high/low limit of each driving axis can be set by using software package or axis parameter change function.
  • Page 459 Chapter 8 Motion Control Function Position tracking error (1) It is a function to output an error when driving axis is in position operation, or the actual position read from the axis is further beyond tracking tolerance than the target position of the position operation instruction profile. (2) Position tracking tolerance of each driving axis can be set by using software package or axis parameter change function (3) Whether to set abnormality to a warning or an alarm in case of the occurrence of tracking error can be set in Tracking Error Level of expansion parameter.
  • Page 460 Chapter 8 Motion Control Function 4. Latch(Touch Probe) (1) It is a function to record the position of the axis when specific situation (Trigger event) occurs in the axis. (2) Touch probe 1 and 2 can be selected to use according to trigger input (TriggerInput) settings. Trigger input (TriggerInput)=0 : Latch function is performed when touch probe 1 signal is Off->On .
  • Page 461 Chapter 8 Motion Control Function (5) Operation timing (6) Relevant motion function block Name Description Operation Condition MC_TouchProbe Edge Touch probe MC_TouchProbe BOOL Execute Done BOOL Axis UINT Axis UINT UINT TriggerInput TriggerInput UINT BOOL WindowOnly Busy BOOL LREAL FirstPosition CommandAborted BOOL LREAL...

  • Page 462: Data Management Function

    Chapter 8 Motion Control Function Error reset monitoring (1) In case an error occurs in servo drive at the time of resetting error that occurs in the axis due to error reset commands, whether servo drive error is properly reset can be verified by setting error reset monitoring time. (2) If monitoring time is exceeded, error reset is not executed any more even if the error of the drive is not reset..
  • Page 463 Chapter 8 Motion Control Function 2. Cam data management It is able to read and change the cam data in program by the cam data Cam data reading/writing command (1) Cam data reading ■ CmDataRead command reads the cam profile data designated by CamTable ID when Enable input is enabled, and saves the data to the data area specified as MasterPoint and SlavePoint.
  • Page 464 Chapter 8 Motion Control Function (2) Cam data writing ■ CamDataWrite command writes the value set in StartSlope and EndSlope of the cam profile designated by CamTable ID and the device value set in MasterPoint and SlavePoint in the number designated by CamPointNum as "Main-axis Position"...
  • Page 465 Chapter 8 Motion Control Function (3) Motion function block ■ Cam data reading Name Description Operation Condition LS_ReadCamData Level Cam data reading LS_ReadCamData BOOL Enable Done BOOL Axis UINT Axis UINT UINT CamTable ID Busy BOOL Error BOOL LREAL MasterPoint SlavePoint ErrorID WORD...
  • Page 466 Chapter 8 Motion Control Function 3. SDO parameter management (1) This function reads or changes SDO parameters of slave devices connected via network. (2) Parameter values for a certain axis number and the corresponding object number can be read or changed. Parameter number is specified by Index and SubIndex.

  • Page 467: Ethercat Communication Diagnosis Function

    Chapter 8 Motion Control Function 8.3.4 EtherCAT Communication Diagnosis Function EtherCAT slave devices performsEtherCAT communication using ASIC, FPGA, or EtherCAT Slave Controller (ESC) included in the standard micro controller. The communication diagnosis function of EtherCAT reads and writes the ECS (EtherCAT Slave Controller) registers and memories of the slave device, allowing the user to check EtherCAT communication status and errors.
  • Page 468 Chapter 8 Motion Control Function 2. ESC reading (1) This function reads data in ESC of the slave devices connected via network. (2) Adp(Address position) is designating the address of the EtherCAT slave device. The following values can be set depending on the EcatCmd setting.
  • Page 469 Chapter 8 Motion Control Function 3) 7 – BRD (Broadcast Read) All connected slave devices read data of the size set by Length in the Ado area, and saves the result after Bitwise- OR. The designated address value at Adp is ignored, and Wkc increase by 1due to all slaves that performed normal read operation (5) Value and Wkc is displayed as 0 when the motion function block is executed.
  • Page 470 Chapter 8 Motion Control Function 3. ESC writing (1) This function writes data in ESC of the slave devices connected via network. (2) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd settings.
  • Page 471 Chapter 8 Motion Control Function 3) 8 – BWR(Broadcast Write) All connected slave devices write data of the size set by Length in the Ado area. The designated address value at Adp is ignored, and Wkc increase by 1 due to all slaves that performed normal write operation. (5) Wkc value is displayed as 0 when the motion function block is executed, and the Working Counter value is displayed when execution is completed (Done output is on).

  • Page 472: Cable Duplication Function

    Chapter 8 Motion Control Function (11) In the following cases, ESC writing cannot be performed due to errors, properly 1) No slave device is connected to module (Error Code: 0x0F09) 2) Adp setting value is outside the range (Error Code: 0x0F70) 3) Length setting value is outside the range (Error Code: 0x0F71) 4) EcatCmd setting value is outside the range (Error Code: 0x0F72) 5) No response to ESC read command (Error Code: 0x0F73)

  • Page 473: Replace Function During Connection

    Chapter 8 Motion Control Function 8.3.6 Replace Function during Connection While using the cable duplication function, if a slave device previously not in operation due to network disconnection or a failure is restored and connected to the network, this function detects the connection and connects to the network of the individual slave device without having to reconnect the overall network.

  • Page 474: Summary Of The Coordinate Systems Operation

    Chapter 8 Motion Control Function 8.4 Coordinate Systems Operation Function 8.4.1 Summary of the Coordinate Systems Operation Different coordinate systems define various ways specifying certain positions or directions in the space. The figure below shows how to represent a certain TCP through each coordinate system. In the ACS coordinate system, TCP is represented as the rotation angle of a robot joint consisting of two links.

  • Page 475: Pcs Setting

    Chapter 8 Motion Control Function 8.4.3 PCS Setting PCS represents TCP on the work stand. TCP is defined by rotation and movement from the origin point. The parameter to convert PCS into MCS can be set using MC_SetCartesianTransform function block or setting axes group parameter. In MC_SetCartesianTransform, TransX/TransY/TransZ represents the distance of movement from the MCS origin point to the PCS origin point.

  • Page 476: Machine Information Setting

    Chapter 8 Motion Control Function 8.4.4 Machine Information Setting To operate the robot using coordinate system operation, the type of the robot (machine) and the machine parameters should be set at the axes group parameter in advance. Machine parameters can be set using MC_SetKinTransform function block. XG5000 axes group parameters can be set using the same.
  • Page 477 Chapter 8 Motion Control Function 2. Machine information, machine parameter setting (1) XYZ XYZ robot does not require separate machine parameters, as the position of each axis matches the XYZ coordinates of TCP. (2) Delta3 Parameter Description KinParam[0] Lf:Link length of the fixed frame(mm) KinParam[1] Lm: Link length of the moving frame(mm) KinParam[2]...
  • Page 478 Chapter 8 Motion Control Function 4. Axis group, axis configuration setting To perform coordinate system operation, the axes should be set to suit the machine type. Coordinate system operation is not performed if the number of axes or the axis unit does not match. Machine type Axis number 1 Axis...

  • Page 479: Work Space Setting

    Chapter 8 Motion Control Function 8.4.5 Work Space Setting For coordinate system operation, in order to prevent machine damage or safety accident caused by the robot performing impossible motion, a work space function is provided to prevent the robot from going out of the preset work space. Coordinate system operation is not performed if the robot's current position or target position is outside the work space.
  • Page 480 Chapter 8 Motion Control Function Cylinder Parameter Value WorkspaceParam[0] Radius(mm) Z Axis WorkspaceParam[1] Z max(mm) Radius WorkspaceParam[2] Z min(mm) X Axis Delta Parameter Value Z Axis WorkspaceParam[0] Zu(mm) YAxis WorkspaceParam[1] Hcy(mm) WorkspaceParam[2] Hco(mm) WorkspaceParam[3] Rcy(mm) WorkspaceParam[4] Rco(mm) WorkspaceParam[5] Sector Parameter Value WorkspaceParam[0] L end (mm)

  • Page 481: Time Linear Interpolation Operation For Absolute Position Of Coordinate System

    Chapter 8 Motion Control Function 8.4.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System Use the related axes set in the axes group to perform interpolation control by moving the TCP from the current position to the target position in the set time in a linear trajectory.
  • Page 482 Chapter 8 Motion Control Function Sine1 The velocity profile of this operation type consists of sine curves. It is suitable for low-load high-velocity operation, and reduces impact on the motor caused by load changes. Sine2(Sine With Constant) This velocity profile of this operation type consists of sine curves and constant speed sections. It is suitable for high-load, medium-velocity operation.
  • Page 483 Chapter 8 Motion Control Function 9. Limitation Coordinate system absolute position time linear interpolation control cannot be performed in case of the following errors • CoordSystem input is set to a value other than 1 or 2 (Error Code: 0x20BC) •...

  • Page 484: Circular Interpolation Operation For Coordinate System

    Chapter 8 Motion Control Function 8.4.7 Circular Interpolation Operation for Coordinate System Coordinate system-based circular interpolation operation is performed, where the TCP moves in a circular trajectory on the XY plane using the designated axis in the axes group. Coordinate system absolute position circular interpolation control involves the same setting and motion except that it is based on a coordinate system.
  • Page 485 Chapter 8 Motion Control Function (7) Operation pattern - Start point: (0.0, 0.0,0.0) - Target point: (100.0, 60.0,0.0) - Middle point: (20.0, 60.0) - CircMode: Middle point(0) - PathChoice: - (Ignore in the circular Interpolation using midpoint) Y axis Operation by the circular interpolation Middle point (20, 60)
  • Page 486 Chapter 8 Motion Control Function 3. Circular interpolation using center point specification (1) Circular interpolation is performed by starting at the start position, and reaching the target position in a circular trajectory of which the diameter is the distance to the designated center point. (2) The movement direction is determined as the direction set in the absolute position circular interpolation operatio n (MC_MoveCircularAbsolute2D), the relative position circular interpolation operation (MC_MoveCircularRelative2 D), or “PathChoice”...
  • Page 487 Chapter 8 Motion Control Function (4) Limitation Circular interpolation control using center point specification method cannot be performed in case of the following errors. • During absolute coordinate circular interpolation, home position has not been determined in one or more of the component axes (Error Code: 0x20A0) •...
  • Page 488 Chapter 8 Motion Control Function 4. Circular interpolation using radius specification (1) Circular interpolation is performed by starting at the start point, and reaching the target point in a circular traject ory of which the diameter is the distance set by the auxiliary point for the circular interpolation. The center point arc varies depending on the positivity/negativity of radius ((+): arc angle <180°, (-): arc angle>=180°).
  • Page 489 Chapter 8 Motion Control Function (5) Operation pattern - Start point: (100.0, 100.0, 0.0) - Target point: (900.0, 100.0) - Aux point: (500.0, 0.0) - CircMode: Radius(2) - PathChoice: - CW(0) 「CW, Arc<180° 」 Y axis Circular interpolation operation Start point Target point(900,100) (100,100) X axis...
  • Page 490 Chapter 8 Motion Control Function 5. Function block (1) Absolute position coordinate system circular interpolation operation Name Description Operation Condition Absolute position circular MC_MoveCircularAbsolute2D Edge interpolation operation MC_MoveCircularAbsolute2D Done BOOL Execute BOOL AxesGroup UINT AxesGroup UINT Busy UINT CircMode BOOL LREAL[ ] AuxPoint Active...
  • Page 491 Chapter 8 Motion Control Function 6. Helical interpolation (1) When circular interpolation commands (absolute position coordinate system circular interpolation operation (MC_ MoveCircularAbsolute2D), relative position coordinate system circular interpolation operation (MC_MoveCircularRelati ve2D)) are executed, circular interpolation is performed by moving in a circular trajectory on the XY plane, while li near interpolation synchronized to the circular interpolation motion is performed with respect to Z-axis (2) To perform helical interpolation, set the target position for linear interpolation at Pz of ‘EndPoint’.

  • Page 492: Synchronized Operation For Conveyor Belt

    Chapter 8 Motion Control Function 8.4.8 Synchronized Operation for Conveyor Belt In a coordinate-based operation, one of the axes group is designated as the conveyor axis, and the objects moving on the conveyor in a straight line are tracked. Z mcs Z mcs X mcs X mcs...
  • Page 493 Chapter 8 Motion Control Function (2) Conveyor belt synchronized setting disable(PCS setting) Name Description Operation Condition MC_SetCartesianTransform Edge PCS setting MC_SetCartesianTransform BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT LREAL TransX Busy BOOL LREAL TransY Active BOOL LREAL TransZ CommandAborted BOOL LREAL RotAngleA...
  • Page 494 Chapter 8 Motion Control Function Start MC_TrackConveyorBelt LS_MoveLinearTimeAbsolute1 LS_MoveLinearTimeAbsolute2 operation Execute Done Execute Done Execute Done AxesGroup AxesGroup AxesGroup AxesGroup AxesGroup AxesGroup ConveyorAxis Busy CoordSystem Busy CoordSystem Busy 40,0,0,0,0, ConveyorOrigin ConveyorOrigin Active 0,0,0,0,0,0 Position Active Position Active ObjectPosition ObjectPosition TrajType TrajType Error Error...

  • Page 495: Synchronized Operation For Rotary Table

    Chapter 8 Motion Control Function 8.4.9 Synchronized Operation for Rotary Table In a coordinate-based operation, one of the axes group is designated as the rotary axis, and the objects moving on the rotary table are tracked. Z mcs Y mcs Zpcs X mcs Zrotary...
  • Page 496 Chapter 8 Motion Control Function Name Description Operation Condition MC_SetCartesianTransform Edge PCS setting MC_SetCartesianTransform BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT LREAL TransX Busy BOOL LREAL TransY Active BOOL LREAL TransZ CommandAborted BOOL LREAL RotAngleA Error BOOL LREAL RotAngleB ErrorID WORD LREAL...
  • Page 497 Chapter 8 Motion Control Function (3) Limitation Rotary table synchronization cannot be set in the case of the following errors. • Value other than 2 is set in CoordSystem and performed (Error Code: 0x20BC) • Axis set in RotaryAxis is not connected (Error Code: 0x20C3) •...

  • Page 498: Path-Operation Function For Coordinate System

    Chapter 8 Motion Control Function 8.4.10 Path Operation Function for Coordinate System The coordinate system path operation function stores operation command information in a specific memory area and sequentially executes the stored operation commands to indirectly perform coordinate system operations such as coordinate system linear interpolation operation/circular interpolation operation.
  • Page 499 Chapter 8 Motion Control Function (2) Coordinate system path data remove Name Description Operation condition LS_ResetMovePath Edge Coordinate system path data remove LS_ResetMovePath BOOL Execute Done BOOL UINT AxesGroup AxesGroup UINT ARRAY[] OF BYTE PathData Busy BOOL UINT Step Active BOOL Error BOOL...

  • Page 500: Foe(File Access Over Ethercat) Function

    Chapter 8 Motion Control Function 8.5 FoE(File Access over EtherCAT) Function 8.5.1 Overview of FoE Function FoE is a function that supports firmware download from the motion controller to the slave which is in bootloader state through the EtherCAT network as a simple file access protocol provided by EtherCAT communication. In order to use the FoE function, both master and slave should support the FoE protocol.
  • Page 501 Chapter 8 Motion Control Function 8-110...
  • Page 502 Chapter 8 Motion Control Function (2) Downloading files Download a file using the FoE protocol. FoE download can be executed when the StateMachine state is in Boot model. The procedures for downloading the FoE files may vary depending on the slave. Please refer to the salve instruction manual.
  • Page 503 Chapter 8 Motion Control Function 3) Enter the password (number) in the password confirmation dialog box. 4) Select the OK button to download the file. 5) When the download is completed, change the StateMachine state to Init. 8-112...

  • Page 504: Chapter 9 Nc Control Function

    Chapter 9 NC Control Function Chapter 9 NC Control Function Chapter 9 describes how the motion controller user creates the motion program of the G-code format. The motion controller can program motions through a kind of scripting language called the G code. Chapter 9 describes the basic terms and conceptual explanations for the G code programming, and explains how to configure the program.
  • Page 505 Chapter 9 NC Control Function Reserved character Description In the XYZ rectangular coordinate system, the rotation axis parallel to the Y axis(When it is set to the rotation axis in the parameters setting) In the XYZ rectangular coordinate system, the rotation axis parallel to the Z axis (When it is set to the rotation axis in the parameters setting) additional linear axis (rotation axis, when it is set to the rotation axis in the parameters setting)

  • Page 506: Coordinate System

    Chapter 9 NC Control Function Reserved character Description SIN, COS, TAN, ATAN, Mathematical function SQRT, ABS, ROUND, AND, OR, RIX, FUP 9.1.3 Coordinate System The coordinate system means the space to be used as a basis for operating the machine. The motion controller uses the right-handed rectangular coordinate system and supports four modes: machine coordinate system, work coordinate system, local coordinate system, and relative coordinate system.
  • Page 507 Chapter 9 NC Control Function (3) Local coordinate system It is called the local coordinate system to set the reference point at any position on the workpiece coordinate system and make the command when programing with the workpiece coordinate system. It refers to the coordinate system created newly within the program of the workpiece coordinate.

  • Page 508: Configuration Of The Program

    Chapter 9 NC Control Function 9.2 Configuration of the Program 9.2.1 NC Program The NC program is a file consisting of the commands with control information about the axis. NC program can be added to 'Motion data - NC program' in XG5000. The NC program is used in the form of „program name.extension‟ when saving the NC program as a file, and the file name extension of the NC program used is „nc‟.
  • Page 509 Chapter 9 NC Control Function (2) Configuration of Blocks It consists of the basic NC commands and command information for driving the machine. One block corresponds to one line of the program. The maximum number of the characters that can be used in a block is 300, including the space characters.
  • Page 510 Chapter 9 NC Control Function (4) Call multiplicity of the subprogram The main program can call a subprogram, and the subprogram can call another subprogram. If calling the subprogram for the first time is the Call Step 1, the NC program of the motion controller can be called up to 9 steps as shown below.

  • Page 511: Data

    Chapter 9 NC Control Function 9.2.3 Data (1) Data type used in the NC program The NC program uses the numerical data for each axis command, feed rate command, DWELL command, macro variables, etc. When each operator is applied, the constant is used directly in the program. At this time, the range of data type that can be used for the NC program of motion controller is as follows.
  • Page 512 Chapter 9 NC Control Function (2) System of units For the numbers used for the NC program, the system of units applied changes depending on whether or not to enter a decimal point ("."). This depends on how the decimal point check item is set among the NC channel parameters of the motion controller.

  • Page 513: Nc Command

    Chapter 9 NC Control Function 9.3 NC Command The NC command is basically described based on the three types of data: the type of motion to be moved, the target position and the target speed. The basic formats of the position command and speed command are as follows. 9.3.1 Basic Format of the NC Position Command The motion controller supports two types of commands;...
  • Page 514 Chapter 9 NC Control Function (2) Specifying the central point of an arc (I, J, K) I_ J_ K_ I_ J_ K_: Central point-position command of an arc for circular interpolation The position command of axis, "I_ J_ K_" is used to command the position of each origin point on the coordinate to the individual axis when commanding the central point of the arc for circular interpolation.

  • Page 515: List Of The Nc Commands

    Chapter 9 NC Control Function The speed command specifies the operating speed of the interpolation command. The speed command can be instructed with each interpolation command or instructed independently. Since the speed command is the modal command, once it is instructed, it is valid for the operations of the interpolation command until another speed command is made.
  • Page 516 Chapter 9 NC Control Function Category Program instruction Function Compensate the tool diameter to the left Compensate the tool diameter to the right Compensate the tool length in the direction of + Cancel compensation of the tool length Set the local coordinate system Select the machine coordinate system Select the workpiece coordinate system 1 Select the workpiece coordinate system 2...

  • Page 517: Description Of The Nc Command

    Chapter 9 NC Control Function Category Program instruction Function X, Y, Z, A, B, C, U, V, W, S Specify the location of the axis Position Rotating central point coordinate of each axis for circular command I, J, K interpolation Speed Feed rate command command...
  • Page 518 Chapter 9 NC Control Function Modal command G01 X10. F100 Y100. Z300. G00 X100 The G01 is a modal command as shown in the above program so the G01 command will be executed until the G00 command is made since the G01 is commanded even if G01 command is not separately specified. 1) Rapid traverse (G00) (G90, G91) G00 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ G90, G91: Absolute/Incremental command...
  • Page 519 Chapter 9 NC Control Function G00 X100 Y100 Z100 The above program is the example set to absolute command using G90. After that, it rapidly traverses the X and Y axis to (100,100) points and then, traverses the Z axis to 100 points again. The parameters related to the Rapid Traverse are as follows.
  • Page 520 Chapter 9 NC Control Function Current position Target position The linear interpolation (G01) is the function that simultaneously traverses each axis in a straight line to the commanded position at the speed set by the F command in order to perform the desired machining (eg. cutting) as shown in the figure above.
  • Page 521 Chapter 9 NC Control Function G01 X50 Y35 F3000 % Interpolation feed control, target position to traverse(X=50, Y=35), speed 3000 X100 Y55 % Interpolation feed control The above program shows the example that executes the interpolation feed control at the speed 3000 to the points of the X axis 50 and the Y axis 35 under the absolute command and then, executes the interpolation feed control to the points incremented by 100 from the X axis and 55 from the Y axis under the incremental command.
  • Page 522 Chapter 9 NC Control Function G17 plane G18 plane G03(MCC) G03(MCC) G18: ZX plane G03/MCC G02/MCW G02(MCW) G02(MCW) G02/MCW G19 plane G03/MCC G03(MCC) G03/MCC G02/MCW G17: XY plane G02(MCW) The circular interpolation can be executed by setting the central point of an arc as the command information or by setting the circular radius as the command information.
  • Page 523 Chapter 9 NC Control Function [Circular interpolation with specifying the radius(R)] During the circular interpolation, if the start and end radii of the arc are different, an alarm occurs. If it is within the error radius, it traverses to the original trajectory and then reaches the final position with a straight line. [Circular interpolation of sections with different radius of rotation] 9-20...
  • Page 524 Chapter 9 NC Control Function G00 X0 Y0 Z0 % XY plane G02 X50 Y50 I50 F100 % Clockwise circular interpolation, Central point(X=X+50, Y=0), speed 100 G03 X0 Y0 R50 % Counter clockwise circular interpolation, R(Radius)=50 % Relative coordinate G03 X100 Y100 J100 % Counter clockwise circular interpolation, Central point(X=0, Y=Y+100) G02 X-100 Y-100 R100 % Clockwise circular interpolation, R(Radius)=100...
  • Page 525 Chapter 9 NC Control Function The parameters related to the circular interpolation are as follows. NC parameter Group name and parameter name NC channel parameter 4) Helical interpolation (G02/G03) (G90, G91) G17 (G02, G03) X_ Y_ (I_ J_, R_) Z_ F_ (G90, G91) G18 (G02, G03) X_ Z_ (I_ K_, R_) Y_ F_ (G90, G91) G19 (G02, G03) Y_ Z_ (J_ K_, R_) X_ F G90, G91: Absolute/Incremental command...
  • Page 526 Chapter 9 NC Control Function G00 X0 Y0 Z0 % XY plane G02 X50 Y50 I50 Z10 F100 % Clockwise circular interpolation, Central point(X=X+50, Y=0), Z position 10, speed 100 G03 X0 Y0 Z 20 R50 % counter clockwise circular interpolation, R(Radius)=50, Z position 20 5) DWELL function (G04) G04 (X_, P_)
  • Page 527 Chapter 9 NC Control Function The parameter related to the DWELL command is as follows. NC parameter Group name and parameter name NC channel parameter 6) Exact Stop (G09) G09: Exact Stop (Precision stop command) In normal feed / cutting operations, the corner section decelerates the current block and accelerates the next block because it is affected by physical inertia when accelerating or decelerating the axis traverse.
  • Page 528 Chapter 9 NC Control Function This function is a one-shot command so it is valid in the corresponding command only. If the G09 command is used for the simple feed command like "G01", the „Inposition Check‟ is performed at the target position to traverse.
  • Page 529 Chapter 9 NC Control Function This command specifies two planes to perform the circular interpolation. G17 plane G18 plane G03(MCC) G03(MCC) G18: ZX plane G03/MCC G02/MCW G02(MCW) G02(MCW) G02/MCW G19 plane G03/MCC G03(MCC) G03/MCC G02/MCW G17: XY plane G02(MCW) The parameters related to the command to select planes for circular interpolation are as follows. NC parameter Group name and parameter name NC channel parameter...
  • Page 530 Chapter 9 NC Control Function 9) Enable/Disable stroke function (G22, G23) G22 (X_ Y_ Z_) (I_ J_ K_) G22: Stroke check function On G23: Stroke check function Off X_ Y_ Z_: Enter the lower limit position based on the machine origin of each coordinate. I_ J_ K_: Enter the upper limit position based on the machine origin of each coordinate.
  • Page 531 Chapter 9 NC Control Function The parameters related to Enable /Disable stroke are as follows. NC parameters Group name and parameter name NC channel parameters 10) Homing check (G27) (G90, G91) G27 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ G90, G91: Absolute/Incremental command G27: Homing check X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Target coordinates...
  • Page 532 Chapter 9 NC Control Function Workpiece coordinate G27 X-50. Y0. Alarm G27 X-50. Y-70. 11) Auto-homing (G28) (G90, G91) G28 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ G90, G91: Absolute/Incremental command G28: Auto-homing command X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Coordinate of waypoint of each axis to be homed It is the command to automatically return the axis to the machine reference point.
  • Page 533 Chapter 9 NC Control Function G01 X100. Y100. Z100 F552. % Linear interpolation, target position to traverse(X=100, Y=100), speed 552 G28 X40. Y55. Z32. % Auto-homing, waypoint(X=40, Y=55, Z=32) G91 G01 X50. Y50. F550. The above program is the example of moving the position of axes transferred to X, Y, Z axes linearly to the machine origin by using the G28 auto-homing command.
  • Page 534 Chapter 9 NC Control Function 13) 2 homing (G30) (G90, G91) G30 (P2, P3, P4) X_ Y_ Z_ U_ G90, G91: Absolute/Incremental command G30: Auto-homing command P2: 2 origin P3: 3 origin P4: 4 origin X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Coordinate of the waypoint of each axis to be homed This command automatically returns each commanded axis to the preconfigured 2nd, 3rd, 4th origin.
  • Page 535 Chapter 9 NC Control Function 14) Disable tool diameter compensation (G40) {G40} [G00/G01] X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ G40: Disable tool diameter compensation X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Instruct the vector of the next command block The G40 command is to cancel the tool diameter compensation.
  • Page 536 Chapter 9 NC Control Function [Tool path of the inner corner] [Tool path of the outer corner (obtuse angle)] (Type A) [Tool path of the outer corner (obtuse angle)] (Type B) 9-33...
  • Page 537 Chapter 9 NC Control Function [Tool path of the outer corner (acute angle)] (Type A) [Tool path of the outer corner (acute angle)] (Type B) 9-34...
  • Page 538 Chapter 9 NC Control Function (2) Compensation mode [Outer wall machining (obtuse angle)] [Outer wall machining (acute angle)] 9-35...
  • Page 539 Chapter 9 NC Control Function [Inner wall machining] 9-36...
  • Page 540 Chapter 9 NC Control Function (3) Cancel mode [Tool path of the inner corner] [Tool path of the outer corner (obtuse angle)] (Type A) [Tool path of the outer corner (obtuse angle)] (Type B) 9-37...
  • Page 541 Chapter 9 NC Control Function [Tool path of the outer corner (acute angle)] (Type A) [Tool path of the outer corner (acute angle)] (Type B) 9-38...
  • Page 542 Chapter 9 NC Control Function [Unit: N1 G91 G17 G00 G41 X20. Y20. D08 (D08 tool offset number) N2 G01 Z-25. F100 (The radius value of the tool is entered in the corresponding number) N3 Y40. F250 N4 G39 X40. Y20. (Compensation path of the arc type) N5 X40 Y20.
  • Page 543 Chapter 9 NC Control Function The parameters related to tool diameter correction are as follows. NC parameters Group name and parameter name NC channel parameters * The parameter related to the tool diameter compensation amount is "tool diameter compensation amount 1 ~ tool diameter compensation amount 128". 16) Tool length compensation (G43, G49) G43 Z_ H_ G49 Z_...
  • Page 544 Chapter 9 NC Control Function The following methods are applied to measure the tool length first. (1) Place the workpiece with a wide top surface on a table. (2) Bring the end of the reference tool into contact with the plane of the workpiece. (3) Compensate the Z-axis value.
  • Page 545 Chapter 9 NC Control Function The parameters related to the tool length compensation are shown below. NC parameters Group name and parameter name NC channel parameters * The parameter related to the tool length compensation amount is "tool length compensation amount 1 ~ length compensation amount 128". 17) Local coordinate system setting (G52) G52 X_ Y_ Z_ G52: Local coordinate system setting...
  • Page 546 Chapter 9 NC Control Function G28X0Y0 G00G90X1. Y1. G92X0Y0 G00X500Y500 G52X1. Y1. G00X0Y0 G01X500F100 Y500 G52X0Y0 G00X0Y0 18) Selecting the machine coordinate system (G53) G90 G53 X_ Y_ Z_ G90: Absolute command G53: Select the machine coordinate system X_ Y_ Z_: Feed position G53 is the command to use the machine coordinate system and the tool moves rapidly to the X_Y_Z_ position above in the machine coordinate system.
  • Page 547 Chapter 9 NC Control Function G40 G80 G53 G90 X-140 Y-120 Z0 (Moving to the X-140 Y-120 Z0 position of the machine coordinate system) G92 X0 Y0 Z150 (Rest by changing the workpiece coordinate system) G30 G91 Z0 G54 G00 G90 X0 Y0 19) Selecting the workpiece coordinate system 1~6 (G54, G55, G56, G57, G58, G59) G54 X_ Y_ Z_ G55 X_ Y_ Z_...
  • Page 548 Chapter 9 NC Control Function 20) Single direction positioning (G60) G90 G60 X_ Y_ Z_ U_ G60: Single Direction Positioning command G00: Positioning command X_ Y_ Z_ U_: Target position to traverse Single Direction Positioning (G60) is the function used for tool traversing, which replaces the Rapid Traverse or runs last.
  • Page 549 Chapter 9 NC Control Function If the positioning direction is specified for the X + direction as shown in the figure, it will always move from the same direction to the target position. If the overrun amount is not set or the feed amount is 0, the single direction positioning command is not applied. In addition, it does not apply to the Z axis in the drill cycle, and it is not affected by the mirror image for the set direction.
  • Page 550 Chapter 9 NC Control Function 21) Absolute command (G90) G90 G01 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ G90: Absolute command G01/G00: Linear interpolation /Positioning X_ Y_ Z_ A_ B_ C_ U_ V_ W_: Target position to traverse The absolute command (G90) is the method of commanding the feed position based on the currently set coordinate system.
  • Page 551 Chapter 9 NC Control Function 22) Incremental command (G91) G91 G01 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ G91: Incremental command G01/G00: Linear interpolation /Positioning X_ Y_ Z_ A_ B_ C_ U_ V_ W_: Target position to traverse The incremental command (G91) is the method to instruct the movement amount to the target point to traverse for the current position based on the currently set coordinate system.
  • Page 552 Chapter 9 NC Control Function The workpiece coordinate system setting is the command to shift the current coordinate system by the entered offset. It is used to reset the coordinate system based on the reference point of the workpiece. Until the workpiece coordinate system is selected after the applicable command, it operates based on the shifted coordinate system(G54 ~ G59).
  • Page 553 Chapter 9 NC Control Function 25) Feed mode command per revolution (G95) G95 G01 X_ F_ G95: Feed rate per revolution of the main axis G01: Linear interpolation feed command X_: Coordinate value of the target position to move through the linear interpolation feed F_: Speed command It is the command to set the input unit to the feed rate per revolution of the main axis.
  • Page 554 Chapter 9 NC Control Function G107 C10 G90 G01 G18 Z0 C0 % Select the circular interpolation plane (ZX) Z0 C10 linear interpolation command % P1: Linear interpolation G03 Z70 C60 R3 % P2: Circular interpolation CCW direction (G03) feed position command (Z70 C60) Circular arc‟s radius (3) G107 C0 % Cancel the cylindrical interpolation...
  • Page 555 Chapter 9 NC Control Function NC parameters Group name and parameter name NC channel parameters In this mode, the tool diameter can be compensated and the polar coordinate interpolation is performed for the compensation path of the tool diameter. It is mainly used for grinding of the CAM shaft, etc. Virtual axis C mm/inch Rotation axis...
  • Page 556 Chapter 9 NC Control Function Caution - In the polar coordinate interpolation, only the straight line (G01) and circular interpolation (G02 / G03) can be used. - The command unit of a virtual axis is the same as a linear axis. The coordinate of the virtual axis becomes 0 under the G112 command.
  • Page 557 Chapter 9 NC Control Function M code Function Description Automatic operation stops when M00 is commanded during the automatic Program Stop operation. The modal information is valid up to the present like the single block stop, and the automatic operation is continued by pressing the cycle start button. This function that is the same as the M00 function is valid when the Optional Optional Stop Stop Switch is On.
  • Page 558 Chapter 9 NC Control Function (3) Other Operation instructions of the NC program Other instructions of the motion controller are the commands that control the progress of the program that is not supported by G code, M code, or logical / numerical operation function. Using the variables and instructions, it can program flexible and complicated forms of operations synchronized with the G / M code.
  • Page 559 Chapter 9 NC Control Function - A value exceeding the maximum command value set for each address cannot be specified. Ex.) #L140 = 1000 G[#L140] ; Maximum command value OVER. - The value of the variable that is not yet defined is 0 1-2) Global variable #MNi (N = X, D, W, L;...
  • Page 560 Chapter 9 NC Control Function 2-2) Addressing method according to each data type MX161 MX160 MW10 MW11 MW12 MW13 Data type Addressing method Bit (X) Addressing the leaner bitwise value from bit 0 after the 'X' indicator 16bit (W) Addressing the value in word units (16bit) after the 'W' indicator 32bit (D) Addressing the value in double word units(32bit) after the 'D' indicator 64bit (L)
  • Page 561 Chapter 9 NC Control Function The "N" command can be used with other commands in the block or it can be used alone in one block. However, the number used for the "N" command must be unique for each program's motion file (.nc file). If there is a duplicated Statement Number, an Error will occur.
  • Page 562 Chapter 9 NC Control Function 6) Repetitive statement (DO, WHILE) WHILE [<Conditional expression>] DO n (n = 1, 2, 3, …) END n WHILE: Conditional repetitive statement DO n: Repeat until n declaration statement [……]: Conditional statement END n: End of the block to be repeated When the <conditional expression>...
  • Page 563 Chapter 9 NC Control Function Category Syntax Remarks Sqrt #Li = SQRT[#Lj] #Li = ABS[#Lj] Round #Li = ROUND[#Lj] Round-off operation #Li = AND[#Lj] #Li = OR[#Lj] #Li = FIX[#Lj] Round-down operation #Li = FUP[#Lj] Round-up operation 8) Comment (;, %, ()) %, ;, () % : Comment statement : Comment statement...
  • Page 564 Chapter 9 NC Control Function 9) Example of using program operation instructions % % symbol comment description ; Comment description after a colon #L100=1 % Substitute a constant 1 in the local variable # L100 #L102=3 % Substitute a constant 3 in the local variable # L102 IF [#L100 EQ 1] GOTO N3 % Comparison of conditions using local variables in IF STATEMENT #L101 = #L100 + #L102...

  • Page 565: Nc Parameter

    Chapter 9 NC Control Function 9.4 NC Parameter NC parameter is channel parameter and axis parameter. The each parameter is as follows. Parameters Group Item Description 1. Channel 1. Basic Target machining quantity Set the target machining quantity. parameters setting (0 ~ 2,147,483,647) Target machining quantity Set the target machining quantity for repeated...
  • Page 566 Chapter 9 NC Control Function Parameters Group Item Description 1. Channel 1. Basic Select a progress block at Set whether to initialize to the start block of the parameters setting reset program at reset. ※ If you want to set to 0 (keep the current block), the parameters of "Keep workpiece coordinate system"...
  • Page 567 Chapter 9 NC Control Function Parameters Group Item Description 0: „No Travelling Area‟ is valid. 1. Channel 1. Basic Whether to use the 3rd „No Travelling Area‟ 1: „No Travelling Area‟ is invalid. parameters setting Rotary axis of Cylindrical In the cylindrical interpolation mode, the axis maps interpolation the axis of rotation during the circular interpolation.The axes are X, Y, Z and perform the...
  • Page 568 Chapter 9 NC Control Function Parameters Group Item Description 1. Channel 2. Circular Regenerate the circular Set whether to recreate the central point of the arc parameters milling center when the circular without generating an arc alarm when the distance setting alarm occurs between the start point and the end point exceeds...
  • Page 569 Chapter 9 NC Control Function Parameters Group Item Description 1. Channel 3. Cutting Set the upper speed limit If the cutting speed exceeding the set value is parameters feed setting of the cutting feed commanded, the cutting speed is limited to the set value and an alarm occurs.
  • Page 570 Chapter 9 NC Control Function Parameters Group Item Description 1. Channel 8.Tool How to apply the Set the method of applying the compensation parameters diameter compensation value of amount of the tool diameter when compensating compensation the tool diameter the tool diameter. 0: Apply the diameter value 1: Apply the radius value Compensation type of the...
  • Page 571 Chapter 9 NC Control Function Parameters Group Item Description 1. Channel Whether to use the Set whether to use the workpiece coordinate parameters Workpiece workpiece coordinate system shift amount. coordinate system shift amount. 0: Unused system 1: Used Workpiece coordinate Set the workpiece coordinate system shift amount system shift amount 1 for the X axis.
  • Page 572 Chapter 9 NC Control Function Parameters Group Item Description 1. Channel G57 workpiece coordinate Set the G57 workpiece coordinate system values parameters Workpiece system value 9 for the W axis. coordinate G58 workpiece coordinate Set the G58 workpiece coordinate system values system system value 1 for the X axis.
  • Page 573 Chapter 9 NC Control Function Parameters Group Item Description Macro program call G Set the G code number to call the macro program 1. Channel 11. Macro code (9019.nc) (9010.nc ~ 9019.nc) that can be called by the G code. parameters program ※...
  • Page 574 Chapter 9 NC Control Function Parameters Group Item Description Relative coordinate‟s Set the relative coordinate‟s offset value for the 1. Channel 16. Relative parameters coordinate offset value #1 X axis. Relative coordinate‟s Set the relative coordinate‟s offset value for the setting offset value #2 Y axis.
  • Page 575 Chapter 9 NC Control Function Parameters Group Item Description 2.Channel/Axis 3. Rapid Rapid traverse speed The set value is used as the traverse speed of the parameters traverse G00 block. (0~100000 unit/min, real number) 4. Traverse Minimum value of the Set the minimum value of the G22 Traverse- area G22 Traverse-...

  • Page 576: Chapter 10 Cpu Function

    Chapter 10 CPU Function Chapter 10 CPU Function 10.1 Task Design 10.1.1 Task Overview There are 3 types of motion control tasks: main task, periodic task and initialization task. Types of Number of Motions Tasks Programs • It performs I/O refresh, processing of programs assigned to main task and motion control.

  • Page 577: Task Specification

    Chapter 10 CPU Function (2) Task partitioning All programs should be assigned to one task. Users are required to assign the task according to the characteristics of the created program by referring to the table below. Tasks Appropriate programs • The execution cycle of I/O refresh should be strictly observed. Main task •...
  • Page 578 Chapter 10 CPU Function Main task period Main task period Perform Motion Motion Program Program refresh control refresh control main task Perform Waiting Program Waiting Program periodic task Performance time of periodic task Periodic task period In the main task execution, the double line display after the program execution the motion control or periodic task execution indicates that the task execution is completed.

  • Page 579: Examples Of Task Execution Sequence

    Chapter 10 CPU Function When the initialization program execution is completed, and the initialization task execution is terminated as shown below, the main task program and periodic task program are executed. Main task period Main task period Initial Motion Initial Motion Perform refresh...
  • Page 580 Chapter 10 CPU Function 10.1.5 System Service Processing System service includes the following services. System Service Names Contents USB service • Processing of service requests in XG5000 • Processing of service requests in XG5000 Built-in Ethernet port service • Communication (P2P) service processing •...

  • Page 581: Program Occupancy Rate Operation

    Chapter 10 CPU Function 10.1.6 Program Occupancy Rate Operation Program occupancy rate refers to the ratio of the task execution time per second during the system RUN operation. If there is only main task, the sum of the main task execution time is displayed as a percentage. If there is a periodic task, the main task and periodic task execution time is calculated and displayed as a percentage.
  • Page 582 Chapter 10 CPU Function If the program occupancy rate is high (system service occupancy rate is low) as shown below, the system service may not be performed normally. In the basic parameter, a user can set the value ranging from 50 to 95%, and if the set value is exceeded, the task program occupancy rate warning is generated.
  • Page 583 Chapter 10 CPU Function If the task program occupancy rate exceeds the set value, the task occupancy rate excess warning (_TASK_PRM_USAGE_OVER_WAR) is generated. If the task program occupancy rate exceeds 100%, the system state switches from RUN to ERROR, and the task program occupancy rate excess error (_TASK_PRM_USAGE_OVER_ER) is generated.

  • Page 584: Task Setting Items

    Chapter 10 CPU Function 10.1.7 Task Setting Items To execute the task program, the following task-related items should be set. Each item is reflected immediately when the basic parameter items are transmitted. Even if the periodic cycle is not used, the cycle should be set. For detailed descriptions of the basic parameter settings, refer to Section 10.2.1 Basic Parameter Settings.

  • Page 585: Methods On How To Use Variables Between Tasks

    Chapter 10 CPU Function 10.1.8 Methods on How to Use Variables between Tasks Extra attention should be given when reading and writing the same global variables in the main task and the periodic task. If the value of %MW100 is read and written in the main task and periodic task programs as shown below, the value of %MW100 will be changed continuously depending on the usage position in the periodic task.

  • Page 586: Task Flags

    Chapter 10 CPU Function 10.1.9 Task Flags Below are descriptions of the task flags. Flag name Type Device Description User program maximum execution occupancy _PROGRAM_RATIO_MAX UINT %FW518 (1sec) User program minimum execution occupancy _PROGRAM_RATIO_MIN UINT %FW519 (1sec) User program current execution occupancy _PROGRAM_RATIO_CUR UINT %FW520...

  • Page 587: Task-Related Warning/Error

    Chapter 10 CPU Function 10.1.10 Task-Related Warning/Error (1) Task cycle over warning If the main task or the periodic task exceeds the cycle set by a user, the cycle over warning is generated. The warning is stored in the error history. History History Period...
  • Page 588 Chapter 10 CPU Function (2) Task cycle error If the task is executed by exceeding the cycle error time set in the basic parameter, a cycle over error occurs. Refer to Section 0 Task Program Occupancy Rate Excess Warning/Error for corrective actions taken in the case of an error.

  • Page 589: Parameter Setting

    Chapter 10 CPU Function 10.2 Parameter Setting This section describes motion controller’s parameter setting. 10.2.1 Basic Parameter Setting If you click the basic parameter in the project window, the below screen will be displayed. You can set up 3 items; ‘Basic operation setting’, ‘Device area setting’, ‘Error operation setting’. 10-14...
  • Page 590 Chapter 10 CPU Function Classification Items Descriptions Setting Values Main task cycle Sets the time of the main task 500us, 1ms, 2ms, 4ms 1~100ms(a multiple of the main Periodic task cycle Sets the time of the periodic task task) Sets the main task execution time that causes Main task cycle an error when the main task is executed 1~100ms...

  • Page 591: I/O Parameter Setting

    Chapter 10 CPU Function 10.2.2 I/O Parameter Setting It is the function to set up and reserve the information for each I/O. If you click 『I/O Parameter』in the project window, the below setting window will be displayed. If you click the 『Module』in the 『slot』 position, the list of each module will be displayed. Then, choose the module that is matched with the actual system to be configured.
  • Page 592 Chapter 10 CPU Function 10-17...

  • Page 593: Self-Diagnosis Function

    Chapter 10 CPU Function 10.3 Self-Diagnosis Function The Self-Diagnosis function is the function for the CPU part to diagnose the motion controller system for defects. In case errors occur during supplying the power to the motion controller system or during operation, it detects errors to prevent malfunction of the system and preventive maintenance.

  • Page 594: Error History Storage Function

    Chapter 10 CPU Function 10.3.2 Task Program Occupancy Rate Excess Warning /Error If the occupancy rate of the program increases due to the execution of the main/periodic tasks, the system service cannot be executed. To prevent this, this function allows the user to detect the task program occupancy rate excess warning/error.

  • Page 595: Failure Management

    Chapter 10 CPU Function Items Descriptions Remarks Error/Warning Displays the current error/warning Error history Displays the error/warning that occur in chronological order Save up to 100 Notice The saved error history is deleted by clicking ‘Clear’ in the error/warning window. If the error history exceeds 1,024, it is removed from the earliest history, and the latest 1,024 history is saved.
  • Page 596 Chapter 10 CPU Function • Computational error during execution of user programs In case of the numeric operation error (Ex.: in case the denominator of division operation is 0) occurred during execution of user programs, the details will be displayed in the error flag and the system will resume the operation.
  • Page 597 Chapter 10 CPU Function Double Flag Name Function Description Word Reports the minor failure status of _CNF_WAR System warning the system. %FX128 _RTC_ER RTC data error Abnormal RTC data %FX129 _PTASK_CYCLE_WAR Main task Period warning of main task %FX130 _CTASK_CYCLE_WAR Periodic task Period warning of periodic task Shutdown caused by Stoppage caused by abnormal...

  • Page 598: Failure Diagnosis Function For The External Device

    Chapter 10 CPU Function 10.3.5 Failure Diagnosis Function for the External Device It is the function to detect the failure of the external device connected to the motion controller to realize stoppage of the system and warning easily. Through this function, you can detect the external device’s failure without complex programming and can monitor the failure position without special devices (XG5000, etc.) or programs.

  • Page 599: Instantaneous Power Failure Protection Function

    Chapter 10 CPU Function (4) How to detect the external device’s minor failures The following programming is used to detect the external device’s minor failures. (a) Save the error code that can be distinguished by external device’s serious failures in %FW1282 (_ANC_ERR) through the MOVE command as below.

  • Page 600: Rtc Function

    Chapter 10 CPU Function 10.4 RTC Function The motion controller has the embedded clock (RTC) function that keeps running by battery backup even when the power is off. The time data of the embedded RTC can be used for time management such as the system’s operating history or failure history, etc.
  • Page 601 Chapter 10 CPU Function 3) If you want to send the time of the PC to the motion controller, click ‘Synchronization with PC clock’ button. 4) If you want to set up the user defined time, after changing set values of the data and time box, click ‘Send to motion controller’.
  • Page 602 Chapter 10 CPU Function (c) Example of modifying clock data through the program A user can set up the clock data through the program using RTC-SET function blocks as below. Function block I/O variable Description It executes the function block in rising edge. DATA Time data to input (Refer to the below table.) DONE...
  • Page 603 Chapter 10 CPU Function (2) Time error The RTC’s error may be different depending on usual temperature. Operation temperature Maximum difference(Second/1 Day) General case(Second/1 Day) 0℃ -12.26 ~ -1.03 -6.64 25℃ -10.37 ~ 0.86 -4.75 55℃ -13.09 ~ -1.86 -7.47 Notice •...

  • Page 604: Remote Function

    Chapter 10 CPU Function 10.5 Remote Function In the motion controller, you can change the operation mode through the key switch attached to the module or through communication. For remote operation, put the basic unit’s mode change switch on STOP position. (1) The kinds of remote operations are as below.

  • Page 605: I/O Forced On/Off Functions

    Chapter 10 CPU Function 10.6 I/O Forced On/Off Functions The forced I/O function is used to turn On/Off I/O areas by force regardless of the results of program execution. 10.6.1 Forced I/O Setting Method Click『Online』-『 Forced I/O setting 』. The below table represents the items related to the forced I/O setting. Item Description Remarks...

  • Page 606: Time To Process The Forced I/O On/Off And Processing Method

    Chapter 10 CPU Function 10.6.2 Time to Process the Forced I/O On/Off and Processing Method (1) Forced input When the forced input is set, among the data read from the input model at the time of Refresh, the data of the contact set as the forced On/Off is replaced by the forced set data to update the input image area.

  • Page 607: Function Saving The Operation History

    Chapter 10 CPU Function 10.7 Function Saving the Operation History There are 5 types of operation history; error history, mode conversion history, power down history and system history. The occurrence time, frequency, operating details of each event are saved in the memory and you can conveniently monitor the data through XG5000.

  • Page 608: Program Modification During Operation(Modification During Run)

    Chapter 10 CPU Function 10.8 Program Modification during Operation(Modification during RUN) You can modify the programs and communication parameters without stopping control operations during running the motion controller. The below describes the basic modification method. For more details on Modification during RUN, refer to the XG5000 manual.
  • Page 609 Chapter 10 CPU Function (3) Then, the background color of the program window changes and it is converted into the mode of modification during RUN. (4) You can modify the program. (5) When the modification of the program is completed, click 『Online』-『Write Modification During RUN』 (6) When Write Program is completed, click 『Online』-『End Modification During RUN』.
  • Page 610 Chapter 10 CPU Function (7) The background color of the program window changes into the original one and modification during RUN is completed. Notice • For Modification of communication parameters during RUN, after changing the network configuration items of XG5000 in the RUN status without going into the Modification during RUN menu, click 『Online』-『Write』...

  • Page 611: Read I/O Information

    Chapter 10 CPU Function 10.9 Read I/O Information It is the function to monitor each module’s information comprising the motion controller system. (1) If you click 『Online』-『Diagnosis』-『I/O Information』, the information of each module of connected systems will be monitored. (2) If you click ‘Detailed Information’ after choosing the module, the details on the module will be displayed. 10-36...

  • Page 612: Monitoring Functions

    Chapter 10 CPU Function 10.10 Monitoring Functions It is the function to monitor the motion controller system’s general information. (1) If you click 『Monitor』, the submenu will be displayed as below. (2) The below table provides the descriptions on each item. Items Descriptions Remarks...
  • Page 613 Chapter 10 CPU Function (a) Changing the current value It is the function to change the current value of each selected device in the program window. (b) Device monitor It is the monitoring function by device. (c) Monitor suspension setting It is the function to stop monitoring when the set device value is matched.
  • Page 614 Chapter 10 CPU Function (d) Trend Monitor It is the function to represent the set device value in a graphic form. The value represented on the graph is not the data collected by the motion controller at the right timing but the value read from XG5000 through the communication function.

  • Page 615: Function To Delete All Of The Motion Controller

    Chapter 10 CPU Function 10.11 Function to Delete All of the Motion Controller The function to delete all of motion controller is the initialization function to delete all programs, parameters, passwords, data stored in the motion controller. (1) How to delete all of motion controller (a) Click『Online』-『Reset/Clear』-『Clear PLC』.

  • Page 616: Built-In Input/Output Function

    Chapter 10 CPU Function 10.12 Built-in Input/Output Function 10.12.1 Input Filter Function The motion controller’s input modules have the input filter function to prevent the external noise signal flowed into the input signal. For more details on the input filter function, refer to the below. (1) Purposes and Operations of the input filter function Under the environment with serious noise or in the case of the equipment that is greatly affected by the input signal’s pulse width, the system may receive incorrect input depending on the input signal status.
  • Page 617 Chapter 10 CPU Function (b) Select ‘Digital Input/Output (XMC-DN24)’ in I/O parameter setting window and double-click. (c) Set the filter value. Notice When the filter value is set, the cycle of the main task should be set to a value smaller than the set filter value.

  • Page 618: Emergency Output Function

    Chapter 10 CPU Function 10.12.2 Emergency Output Function The XMC’s output module supports the emergency output function to determine whether maintaining the output status of the output module or clearing it when the motion controller is stopped due to errors. You can set the emergency output by 8 points.

  • Page 619: Reading Of Serial Number Information

    Chapter 10 CPU Function 10.13 Reading of Serial Number Information It is a function to monitor serial number information of motion controller. (1) It can be monitored as follows through variables. Memory Flag name Data Description _SERIAL_NUM Serial number data[] _SERIAL_NUM[0] Serial number 1~2th digit _SERIAL_NUM[1]...
  • Page 620 Chapter 10 CPU Function Ex) If the serial number is 123456789, the flag are displayed as follows (The unused area of the serial number is displayed as 0) 10-45...

  • Page 621: Chapter 11 Datalog Function

    Chapter 11 Datalog Function Chapter 11 Datalog Function 11.1 Overview Motion controller comes with built-in datalog function. This chapter describes the specification and usage of the datalog function. 11.1.1 Features Using the motion controller internal datalog function, you can collect run data of motion controller and save them into a SD memory card in the CSV (Comma-Separated Values) format just with a simple parameter configuration.

  • Page 622: Part Names

    Chapter 11 Datalog Function 11.1.2 Part Names The names of pars related to datalog function are as follows. (1) Part names ① ② ③ ④ Names Description ① Status LED Indicates run status of SD memory and datalog. ② SD memory mounting slot A slot where SD memory is mounted.

  • Page 623: Operation Sequence

    Chapter 11 Datalog Function 11.1.3 Operation Sequence Datalog is performed in the following sequence. Start Check datalog Datalog function check - Check specification, feature of datalog Install XG5000 software to control motion controller Install PADT Configure the datalog system Datalog system configuration - Check SD memory specification, and choose memory card (Motion controller FAT 32, 32GB) Wire power, input/output signal and controller and devices...

  • Page 624: Control Signal Flow

    Chapter 11 Datalog Function 11.1.4 Control Signal Flow The datalog function saves the motion controller device values into the SD memory or exchanges the value with external device or software, in accordance with the following data flow. Motion controller Saving data file CSV Format 11-4...

  • Page 625: Performance Specifications

    No. of Files Formatting Type Quick Format Formatting Cluster Size 32kByte Function Volume Label LSIS (fixed) Power Input 2.7 ~ 3.6VDC Card Size 15mm * 11mm * 1.0mm Up to 32GB Maximum Capacity SD memory ( Only 8GB can be available for above 8GB memory size)

  • Page 626: Specification Functions

    Chapter 11 Datalog Function 11.3 Specification Functions Datalog function refers to storing device values of motion controller at a set interval or when the trigger condition occurs. Thus collected data are saved into the SD memory card in CSV format. Save data by folder LOG1 LOG2...
  • Page 627 Chapter 11 Datalog Function Data Type Output Size (including ‘,’ BYTE) ULINT 0 ~ 1,152,921,504,606,846,975 -3.402823466e+038 ~ -1.175494351e-038 REAL or 0 or 1.175494351e-038 ~ 3.402823466e+038 -1.7976931348623157e+308 ~ -2.2250738585072014e-308 LREAL or 0 or 2.2250738585072014e-308 ~ 1.7976931348623157e+308 STRING Fixed Character (up to 32 characters ASCII ASCII ASCII...
  • Page 628 Chapter 11 Datalog Function (3) Calculates data unit when saving buffer The motion controller for data saving supported by internal datalog is BYTE. Therefore, operation of data that accumulates inside the buffer during data collection is performed as follows. (Unit: BYTE) Type Calculation Unit BOOL...
  • Page 629 Chapter 11 Datalog Function Note If the data are saved using the LINT type, the following may not be represented when verifying the data through Excel. ☞ Actual save data ☞ Data verified through Excel In such cases, you can view the normal data by reading the data using Word Pad. Note Float conversion, such as REAL type, supports IEEE754 standards as follows.

  • Page 630: Data Save Method

    Chapter 11 Datalog Function 11.3.2 Data Save Method The datalog function saves data using one of the three methods that follows. (1) Regular Save Regular Save refers to saving data at main task or at a set interval That is, data at the time of save condition are saved, without considering the status before or after the save condition.

  • Page 631: Data Sampling Condition

    Chapter 11 Datalog Function (3) Event Save Event Save refers to monitoring the device value collected, and saving the present data when a certain event condition is satisfied. This method is useful for analyzing fluctuation of event values and timing by saving data from the event occurrence to the event termination.
  • Page 632 Chapter 11 Datalog Function (b) Designation Cycle Save It samples data when a set interval arrives. (c) Designation Time Save It samples data when a set interval arrives. Note 1. The data collection is performed at the interval set by the parameter. 2.
  • Page 633 Chapter 11 Datalog Function Trigger Device Occurrence Operation Note Set Condition Condition Samples data at the descent edge when Device Set Condition changes from FALSE(0) to TRUE(1). Elevation Small or Same Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FLASE(0).
  • Page 634 Chapter 11 Datalog Function Trigger Device Occurrence Operation Note Set Condition Condition Samples data at the elevation edge when Device Set Condition changes from FALSE(0) to TRUE(1). Elevation Same Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0). Descent Word Condition...
  • Page 635 Chapter 11 Datalog Function (3) Event Save Event Save runs with similar conditions to Trigger Save. Event Save refers to saving data when the event occurs, until the conditions are not satisfied. Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Saves data at elevation edge of set device bit value...
  • Page 636 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 637 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 638 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 639 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 640 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 641 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).

  • Page 642: Save Folder Structure

    Chapter 11 Datalog Function 11.3.4 Save Folder Structure Data saved by datalog are saved in the following file structure. (1) Folder Name: Folder name is fixed. Creating additional folder other than the structures show in in the Figure below in the SD memory, datalog function does not show normal function. Please be careful. (2) Data Save Folder: This folder saves log data generated by datalog.

  • Page 643: Csv File Format

    Chapter 11 Datalog Function 11.3.5 CSV File Format CSV files generated by datalog function follow the following specifications Items Description Separation Character Comma (,) Line Change Code CR, LF(0x0D, 0x0A) Character Code ASCII Code Field Data Decimal, Hexadecimal, Exponent, character string File Size Up to 16Mbyte Header File...
  • Page 644 Chapter 11 Datalog Function (2) Data File Structure The internal structure of datalog files saved in the SD memory is as follows First data row Data save time Index Data0 Data1 Data2 Data63 Second data row 2016/12/16/10:06:39.977 Third data row 2016/12/16/10:06:39.978 Last data row 2016/12/xx/xx:xx:xx.xxx...
  • Page 645 Chapter 11 Datalog Function (3) Data File Item Description (a) First Data Line String Name Output Size (Word) Temporary String Indicates date and time with fixed characters Index String Indicates index name 1-64 Data String Outputs the data name designated at data setting (Depends on parameter setting) (b) Data Row Repeat...

  • Page 646: How To Save Csv

    Chapter 11 Datalog Function 11.3.6 How to Save CSV Motion controller collects data whenever the sampling condition occurs, saves them into the SD memory as CSV files. When the data meet file conversion time, motion controller generates a new file in the SD memory card to perform data saving.

  • Page 647: Buffer Memory

    Chapter 11 Datalog Function 11.3.7 Buffer Memory Motion controller has an internal buffer memory for datalog function. Buffer memory refers to a volatile memory which temporarily stores collected data before saving them into the temporary file in the SD memory. Motion controller In accordance with the set sampling condition, the collected data are stored in the buffer memory first and then saved in to the temporary memory of the SD memory card when datalog condition occurs.

  • Page 648: Data Omission

    Chapter 11 Datalog Function 11.3.8 Data Omission Data omission refers to situation where normal data collection is not possible. If data collection interval is set too short, data sampling might not be performed at every set interval, which in turn might cause data omission. Cases include the following.

  • Page 649: Files Backup Cycle

    Chapter 11 Datalog Function 11.3.9 Files Backup Cycle Data collected by datalog are not directly saved into the SD memory. They are saved into the designated buffer, and later saved in to the SD memory when a certain volume (4Kbyte) has been collected. When the data save interval is long and the volume of data to collect is not large, it takes a lot of time to save data into the SD memory.

  • Page 650: Regular Save

    Chapter 11 Datalog Function 11.4 Regular Save Among internal datalog functions of motion controller, Regular Save runs in two methods: Main task Save and Save at Designated Interval Main task Saves refer to saving data at main task, and Save at Designated Interval refers to saving data at an interval set by the user.
  • Page 651 Chapter 11 Datalog Function (b) Set the group to use on the datalog parameter window. Note It runs when both the datalog parameter and the datalog EN flag are set. In case either condition is omitted, the datalog run will not progress. Please verify whether both the datalog parameter and the datalog EN flag are set.
  • Page 652 Chapter 11 Datalog Function (e) Set the data conversion type, storage device and name (f) Connect the SD memory card, and turn on the Datalog Enable Flag (%KW8224) when the _DL_Rdy(%KX8800) Flag is On to activate the function. Datalog will not be activated if the Enable Flag is ON while _DL_Rdy(%KX8800) Flag is OFF.

  • Page 653: Save At Designated Interval

    Chapter 11 Datalog Function OFF the datalog Enable Flag to stop data saving. When the SD memory still has data to save, the Log Ending _DLxx_Stoping(%KX8963) flag turns ON, and back to OFF once all data are saved. Note When using Main task save, set the datalog parameters by referring to main task performance cycle.
  • Page 654 Chapter 11 Datalog Function (2) Setting Method (a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog] This activates the datalog parameter setting window. (b) Set the group to use on the datalog parameter window. (c) Set save interval at [Data Collection Method] (Range: 1~32,767ms) 11-34...
  • Page 655 Chapter 11 Datalog Function (d) Set the path, history setting and file conversion point at [Save Setting] (e) Set the data conversion type, storage device and name (f) Connect the SD memory card, and turn on the Datalog Enable Flag (%KW8224) when the _DL_ Rdy(%KX8800) Flag is On to activate the function.
  • Page 656 Chapter 11 Datalog Function The following are Enable Flags for each datalog group Item Memory allocation Type Description %KW514 WORD Datalog Enable Flags Group 00 Enable Flag _DL00_Enable %KX8224 BOOL 1: Operation, 0: Stop Group 01 Enable Flag _DL01_Enable %KX8225 BOOL 1: Operation, 0: Stop...

  • Page 657: Save At Designated Time

    Chapter 11 Datalog Function 11.4.3 Save at Designated Time (1) Description of operation Save at Designated Interval refers to saving data at Designated Time set by the user. It is different from Designed Interval Save in that the former collects data at certain intervals, and is capable of saving data at more accurate points.
  • Page 658 Chapter 11 Datalog Function (c) Set save interval at [Data Collection Method] (Range: 1~32,767ms) (d) Select one of Every Year / Month / Week / Day / Hour / Minute (e) Set the path, history setting and file conversion point at [Save Setting] 11-38...
  • Page 659 Chapter 11 Datalog Function (f) Set the data conversion type, storage device and name (g) Connect the SD memory card, and turn on the Datalog Enable Flag (%KW8224) when the _DL_ Rdy(%KX8800) Flag is On to activate the function. Datalog will not be activated if the Enable Flag is ON while _DL_ Rdy(%KX8800) Flag is OFF.

  • Page 660: Trigger Save

    Chapter 11 Datalog Function 11.5 Trigger Save Trigger Save refers to saving a set number of data before and after the relevant point: the number of data is set by parameter. This method is useful when you want to view data from a certain period before and after a certain event. When Event Save method is used, data are saved after END of each main task where the set bit condition occurred.

  • Page 661: Trigger Condition

    Chapter 11 Datalog Function 11.5.1 Trigger Condition Trigger Save function runs under Single Condition, Multiple Condition. The setting item for single/multiple conditions are as follows. Multiple Condition runs by connecting Single Condition using AND, OR. Up to 4 Single Conditions can be set to form a condition.
  • Page 662 Chapter 11 Datalog Function (c) Condition Description Trigger Device Operation Note Occurrence Set Condition Condition Saves data at elevation edge of set device bit value Elevation Saves data at descent edge of set device bit value condition Descent Saves data at the elevation edge of the relevant bit, when the set word device value is smaller than the input set value Elevation Small...
  • Page 663 Chapter 11 Datalog Function Trigger Device Occurrence Operation Note Set Condition Condition Saves data at the descent edge of the relevant bit, when the set word device value is larger than the input set value Elevation Large Saves data at the descent edge of the relevant bit, when the set word device value is larger than the input set value Descent Saves data at the elevation edge of the relevant bit, when...
  • Page 664 Chapter 11 Datalog Function Trigger Device Occurrence Operation Note Set Condition Condition Saves data at the elevation edge of the relevant bit, when the set word device value is different from the input set value Elevation Word Different Condition Saves data at the descent edge of the relevant bit, when the set word device value is different from the input set value Descent (2) Multiple Condition...
  • Page 665 Chapter 11 Datalog Function (a) AND Calculation Trigger occurs when all relevant conditions are satisfied at a single main task. The following figure shows an example of trigger save activated by trigger elevation and descent occurring within the same main task cycle. ☞...
  • Page 666 Chapter 11 Datalog Function ☞ When setting with combination of BIT and WORD conditions Comparison Trigger Occurrence Condition Set Value Set Device Condition Condition Condition 0 WORD < %MW10 Elevation Condition 1 BOOL %MX15 11-46...
  • Page 667 Chapter 11 Datalog Function (b) OR Calculation Trigger occurs when even one condition is satisfied at a single main task. After selecting Trigger Save, if the Trigger Condition is again satisfied before data saving is complete, the new trigger is ignored and the number of collisions flag value increases.
  • Page 668 Chapter 11 Datalog Function ☞ When setting with combination of BIT and WORD conditions Comparison Trigger Occurrence Condition Set Value Set Device Condition Condition Condition 0 WORD < %MW10 Elevation Condition 1 BOOL %MX15 11-48...

  • Page 669: Trigger Sample Block Calculation

    Chapter 11 Datalog Function 11.5.2 Trigger Sample Block Calculation During Trigger Save, data collection progresses for each sample block. Sample block refers to the unit of collected data set by the datalog parameter, where sample refers to each data value. The number of trigger sample blocks and the total number of samples are calculated as follows.

  • Page 670: Trigger Sample Calculation

    Chapter 11 Datalog Function 11.5.3 Trigger Sample Calculation The item that can be set at the parameter is the total number of trigger sample blocks and the number of sample blocks before trigger condition. The number of sample blocks after trigger is determined by the two input values Total Number of Trigger = Number of Samples before Number of Samples after...

  • Page 671: Setting Method

    Chapter 11 Datalog Function (2) If Trigger occurs before the number of previous data set by the parameter  Saves data in the number of transfer data collected, and then collects subsequent data (Saves less number of data than the number set by the parameter) 11.5.6 Setting Method (1) Single BIT Condition (a) Choose XG5000 –...
  • Page 672 Chapter 11 Datalog Function (c) Select [Trigger Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting] menu on the left. (d) Upon selection, the following window is activated for trigger setting. Select [Single Condition] as the Trigger Condition. Select either [Elevation] or [Descent] as the Trigger Occurrence Condition.
  • Page 673 Chapter 11 Datalog Function When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu are displayed as follows. (f) Select Trigger Occurrence Condition value. (g) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting. See [11.5.2 Trigger Sample Block Calculation] for operation of number of sample blocks.
  • Page 674 Chapter 11 Datalog Function (h) Device values set at the Datalog Basic Setting window are collected, and saved into the SD memory after type conversion. (2) Single WORD Condition (a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog] This activates the datalog parameter setting window.
  • Page 675 Chapter 11 Datalog Function (c) Select [Trigger Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting] menu on the left. (d) Upon selection, the following window is activated for trigger setting. Select [Single Condition] as the Trigger Condition. Select either [Elevation] or [Descent] as the Trigger Occurrence Condition.
  • Page 676 Chapter 11 Datalog Function When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu are displayed as follows. (f) Select Trigger Occurrence Condition value. (g) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting. See [11.5.2 Trigger Sample Block Calculation] for operation of number of sample blocks.
  • Page 677 Chapter 11 Datalog Function (3) Multiple AND Condition (a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog] This activates the datalog parameter setting window. (b) Set the group to use on the datalog parameter window. (c) Select [Trigger Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting] menu on the left.
  • Page 678 Chapter 11 Datalog Function (d) Upon selection, the following window is activated for trigger setting. Select [Multiple Condition] as Trigger Condition, Select either [Elevation] or [Descent] as the Trigger Occurrence Condition. (e) Select [Trigger Condition] and [Multiple Condition] to activate the condition setting window which allows for up to 4 inputs.
  • Page 679 Chapter 11 Datalog Function When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu are displayed as follows. If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the following phrase is displayed and the setting is not complete.
  • Page 680 Chapter 11 Datalog Function (h) Device values set at the Datalog Basic Setting window are collected when the Trigger Condition occurs, converted into the set type, and saved into the SD memory.ion. (4) Multiple OR Condition [Trigger Setting] is identical to the [Multiple AND Calculation] above. (a) Select each condition setting menu one by one, inputting specific set values.
  • Page 681 Chapter 11 Datalog Function If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the following phrase is displayed and the setting is not complete. (b) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting. (c) Device values set at the Datalog Basic Setting window are collected when the Trigger Condition occurs, converted into the set type, and saved into the SD memory.

  • Page 682: Event Save

    Chapter 11 Datalog Function 11.6 Event Save Event Save refers to monitoring the device value collected, and saving the present data when a certain event condition is satisfied. This method is useful for analyzing fluctuation of event values and timing by saving data from the event occurrence to the event termination.

  • Page 683: Event Condition

    Chapter 11 Datalog Function 11.6.1 Event Condition Event Save function runs under Single Condition, Multiple Condition. The setting item for single/operation conditions are as follows. Multiple Condition runs by connecting Single Condition using operation. Up to 4 Single Conditions can be set to form a condition.
  • Page 684 Chapter 11 Datalog Function (c) Release Value Setting Among Event Save functions, release value setting can be done only in WORD Condition. It affects data save interval and frequency. Once the release value is set, the condition after event occurrence saves data until the release value is satisfied.
  • Page 685 Chapter 11 Datalog Function Example 2) In the word condition, if the value is set to %MW0<50, and the cancelation value is set to 200 ☞ If %MW0 is less than 50, an event occurs, and the data is saved. However, since the cancelation value is set to 200, the data is saved until it reaches 200.
  • Page 686 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 687 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 688 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 689 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 690 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 691 Chapter 11 Datalog Function Trigger Release Device Occurrence Operation Value Set Condition Condition Setting Samples data at the elevation edge when Device Set Condition changes from FALSE (0) to TRUE(1). Setting Elevation Available Samples data at the descent edge when Device Set Condition changes from TRUE(1) to FALSE(0).
  • Page 692 Chapter 11 Datalog Function (2) Multiple Condition Multiple Condition refers to setting up to 4 single conditions and operating by performing the runs that fit the conditions Event condition occurs when operation with the set condition satisfies the result Setting Operation Note AND Condition...
  • Page 693 Chapter 11 Datalog Function ☞ When setting with combination of BIT and WORD conditions (no release value set) Event Comparison Release Condition Set Device Occurrence Condition Value Value Condition Condition 0 Word < %MW100 Elevation Condition 1 BOOL %MX15 ☞ When setting with combination of BIT and WORD conditions (release value set) Event Comparison Release...
  • Page 694 Chapter 11 Datalog Function (b) OR Calculation Event occurs when even one condition is satisfied at a single main task. After selecting Trigger Save, if the Trigger Condition is again satisfied before data saving is complete, and the trigger reoccurrence flag value increases.
  • Page 695 Chapter 11 Datalog Function ☞ When setting with combination of BIT and WORD conditions (no release value set) Event Comparison Release Condition Set Value Set Device Occurrence Condition Value Condition Condition 0 WORD < %MW10 Elevation Condition 1 BOOL %MX15 11-75...
  • Page 696 Chapter 11 Datalog Function ☞ When setting with combination of BIT and WORD conditions (release value set) Event Comparison Release Condition Set Value Set Device Occurrence Condition Value Condition Condition 0 Word < %MW10 Condition 1 BOOL %MX15 11-76...

  • Page 697: Setting Method

    Chapter 11 Datalog Function 11.6.2 Setting Method (1) Single BIT Condition (a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog] This activates the datalog parameter setting window. 11-77...
  • Page 698 Chapter 11 Datalog Function (b) Set the group to use on the datalog parameter window. (c) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting] menu on the left. (d) Upon selection, the following window is activated for event setting. Select [Single Condition] as the Event Condition.
  • Page 699 Chapter 11 Datalog Function (e) Select the condition setting menu to activate the following setting window. Select [BIT Condition], and input device values into the device window in BIT types. When setting is complete, the window closes and the conditions initially set at the Event Setting Condition menu are displayed as follows.
  • Page 700 Chapter 11 Datalog Function (2) Single WORD Condition (a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog] This activates the datalog parameter setting window. (b) Set the group to use on the datalog parameter window. (c) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting] menu on the left.
  • Page 701 Chapter 11 Datalog Function (d) Upon selection, the following window is activated for event setting. Select [Single Condition] as the Event Condition. (e) Select the condition setting menu to activate the following setting window. Select [WORD Condition], and input device values into the device window in BIT types. 11-81...
  • Page 702 Chapter 11 Datalog Function When setting is complete, the window closes and the conditions initially set at the Event Setting Condition menu are displayed as follows. (f) Select the timing of data saving at the Event Occurrence Condition. The number and timing of data change depending on the set value.
  • Page 703 Chapter 11 Datalog Function (b) Set the group to use on the datalog parameter window. (c) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting] menu on the left. (d) Select the timing of data saving at the Event Occurrence Condition and set the operation condition to AND operation.
  • Page 704 Chapter 11 Datalog Function (e) Select [Event Condition] and [Multiple Condition] to activate the condition setting window which allows for up to 4 inputs. (f) Select each condition setting menu one by one, inputting specific set values. [Multiple Condition] activates Event Condition by calculating [Single Conditions] using the set run method.
  • Page 705 Chapter 11 Datalog Function If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the following phrase is displayed and the setting is not complete. (4) Multiple OR Condition (a) The same sequence as [AND Calculation Condition] applies up to the [Event Setting] menu. (b) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left.
  • Page 706 Chapter 11 Datalog Function (c) Select [Event Condition] and [Multiple Condition] to activate the condition setting window which allows for up to 4 inputs. (d) Select the timing of data saving at the Event Occurrence Condition and set the operation condition to OR operation.
  • Page 707 Chapter 11 Datalog Function (f) When setting is complete, the window closes and the conditions initially set at the Event Setting Condition menu are displayed as follows. (g) If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the following phrase is displayed and the setting is not complete.

  • Page 708: Additional Functions

    Chapter 11 Datalog Function 11.7 Additional Functions This section provides detailed description of additional functions of internal datalog 11.7.1 File Save History Setting When the maximum number of files are saved into the datalog, file save changes depending on whether [Overwrite with Latest History] or [Maintain First History] is chosen at the [History Setting Overwrite with the latest history...

  • Page 709: Formatting Function

    Supported SD memory Capacity 2GByte ~ 32GByte Allotted Cluster Size 32KByte (512 Sector x 8) Volume Label LSIS (fixed) Motion controller Operation Mode STOP (REMOTE available) Formatting Mode Fast Formatting (a) File System: Rules of Saving Files into Disk (b) Supported SD memory Capacity: MMC card not supported, 2GByte~ 32GByte SD memory supported...
  • Page 710 Chapter 11 Datalog Function (2) Execution (a) Select XG5000 – [On-line] – [Reset/Clear] – [SD Memory ] –[Format] (b) Before executing SD memory formatting, cautions for formatting process are activated.. After reviewing the cautions, press [Yes] to proceed to the next stage. Caution 1.
  • Page 711 Chapter 11 Datalog Function Ex) When a 8G memory is connected (3) Formatting Complete and Error Codes (a) Status Information F Area Address Flag Name Description %FW523 _SD_FmtInfo SD memory formatting information %FX8368 _SD_FmtRun SD memory formatting in progress BOOL %FX8369 _SD_FmtDone SD memory formatting complete...

  • Page 712: Diagnosis Function

    Chapter 11 Datalog Function (c) Completion Phrase _SD_FmtDone(%KX8369) Bit turns ON when formatting is complete. In this case, the following completion window appears. If formatting failed, an error window appears along with the relevant code. SD Detachment File System Damage 11.7.3 Diagnosis Function Datalog provides SD memory diagnosis function.

  • Page 713: Csv File Structure

    Chapter 11 Datalog Function 11.8 CSV File Structure 11.8.1 File Save Format The name of CSV files are created in the following form. Name .CSV Group Description File Name File Number Extension Number Fixed Range Fixed Value 0~15 000 ~ 255 Value The first 4 characters are fixed as ‘FILE,’...

  • Page 714: Sd Memory Card

    Chapter 11 Datalog Function 11.9 SD Memory Card 11.9.1 SD Memory Specifications To use datalog function, the SD memory used should satisfy the following specifications. Items Description Memory Capacity: Up to 32 GB (supports SPI MODE, SD, SDHC) (Only 8GB can be available in more than 8GB memory) File System FAT32 Voltage Range...

  • Page 715: Micro Sd Memory Usage Capacity

    Chapter 11 Datalog Function (a) Forcibly removing the SD memory from motion controller during writing or reading of data collected by motion controller may damage the file system of the memory card. Therefore, please remove SD memory after disabling the datalog function using the command flag. If SD memory is removed during read/write of the SD memory, the SD STATE LED flashes at 500ms interval.

  • Page 716: Flag List

    Chapter 11 Datalog Function 11.10 Flag List 11.10.1 Common Flag Address Type Variable Function Description It is the flag indicating whether the %KX8800 BOOL _DL_Rdy Datalog ready datalog is ready. It is the flag indicating stop command %KX8192 BOOL _DL_AutoLogStop Stop Auto-logging input of auto-logging.
  • Page 717 Chapter 11 Datalog Function Address Type Variable Function Description It is the flag indicating error number that SD memory format error %KW524 WORD _SD_FmtEcode occurred while formatting the SD code memory. SD memory format progress It is the flag indicating format progress %KW525 WORD _SD_FmtProgress ratio(%)

  • Page 718: Group Specific Flag

    Chapter 11 Datalog Function 11.10.2 Group Specific Flag Parameter Group 0 Flag Address Type Variable Function Description %KX8224 BOOL _DL00_Enable Group 00 datalog enable state 0: Stop, 1: Save %KX8960 BOOL _DL00_Rdy Group 00 datalog ready 0: Not ready, 1: Ready %KX8961 BOOL _DL00_Act Group 00 datalog operation state...

  • Page 719: Error Code And Solution

    Chapter 11 Datalog Function 11.10.3 Error Code and Solution Error codes related to datalog function is as follows. Items Error Code Error Name Cause and Solution Note 0x0000 No Error It occurs when SD card is damaged, or SD which is not SD Card formatted to FAT32 is mounted.

  • Page 720: Datalog Performance

    Chapter 11 Datalog Function 11.11 Datalog Performance 11.11.1 Data Processing Time This section describes the data storage time of datalog function. The processing times described in this section do not represent absolute values, but actual measurement of each example. The actual processing time varies depending on the scan time, volume of collected data, format of the collected data, type and storage of SD memory and number of files in the SD memory.
  • Page 721 Chapter 11 Datalog Function (3) Measurement Results: The storage performance according to the main task cyclic is shown in the following table. (a) In case of WORD type Number of Devices 16 WORD 32 WORD 64 WORD 4 WORD 8 WORD (16 WORD * 1 (32 WORD * 1 (32 WORD * 2...

  • Page 722: Save Process Time Verification

    Chapter 11 Datalog Function 11.11.3 Save Process Time Verification Datalog function does not guarantee saving of all data under any setting. It performs the maximum operation that motion controller is capable of at the time when datalog condition occurs. That is, since datalog processing time may fluctuate depending on the parameter setting, sampling data amount, scan time and run state of motion controller’s other functions such as internal communication and position determination, it may not run as specified by the set collection condition in some cases.
  • Page 723 Chapter 11 Datalog Function (2) Methods on how to check the data storage processing time To confirm whether the collected data is stored normally in the SD card, check the following contents Checklist Contents and Solutions Note Check whether the number of times when the buffer overflow occurred in K area is 0.

  • Page 724: Chapter 12 Sd Addition Function

    Chapter 12 SD Additional Function Chapter 12 SD Additional Function 12.1 Overview The motion controller has built-in additional functions using the SD card. This chapter describes the specifications and usage of the SD additional features. 12.1.1 Characteristics Through the motion controller’s SD additional features, you can perform the PLC update, backup, comparison, boot operation.

  • Page 725: Export To The Sd Card

    Chapter 12 SD Additional Function 12.1.2 Export to the SD Card Select [XG5000] - [Project] - [SD Card Setting] - [Export to SD Card] to launch the window where you can set the SD card. (The function, ‘Export to SD card’ is available only when the XG5000 is not online.) (1) PLC update The PLC update function is to update the program stored in the SD card to the PLC.
  • Page 726 Chapter 12 SD Additional Function (2) PLC Backup It is the function to back up the program stored in the PLC to the SD card. In the PLC backup mode, the description of each item is as follows. Item Description Target drive Select the storage medium to store the project data Select action folder...
  • Page 727 Chapter 12 SD Additional Function In the comparison mode with the PLC, the description of each item is as follows. Item Description Target drive Select the storage medium to store the project data Select action folder Location where you will save the project data (folder) Set the PLC operations when inserting the SD card Select operation mode Comparison with the PLC: Compare the projects stored in the PLC and...

  • Page 728: Import From The Sd Card

    Chapter 12 SD Additional Function 12.1.3 Import from the SD Card Select [XG5000] - [Project] - [SD card setting] - [Import from SD] to launch the window to read the file. In the corresponding path, you can confirm the project saved in the SD of XG5000 is opened. 12.1.4 PLC Update Function The PLC update function is available only when the PLC is in the STOP mode.
  • Page 729 Chapter 12 SD Additional Function When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Config and Restore folder. When the SD card is inserted into the SD card slot of the PLC, the flag(% KW541) of SD additional features is displayed according to the values set in the Config.

  • Page 730: Plc Backup Function

    Chapter 12 SD Additional Function 12.1.5 PLC Backup Function This function backs up the project stored in the PLC to the SD card. The project of the PLC is backed up in the Backup folder in the MAC address folder of the product and saved as a file. The PLC backup function can operate regardless of the PLC mode.

  • Page 731: Comparison With The Plc

    Chapter 12 SD Additional Function 12.1.6 Comparison with the PLC This function is used to compare the project stored in the PLC with the program stored in the SD card. The comparison result can be checked through the flag or .csv file. If you select ‘Comparison with the PLC’...
  • Page 732 Chapter 12 SD Additional Function When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Config, Compare folder. When the SD card is inserted into the SD card slot of the PLC, the flag(% KW541) of SD additional features is displayed according to the values set in the Config.

  • Page 733: Plc Boot Operation

    Chapter 12 SD Additional Function 12.1.7 PLC Boot Operation This function is to operate the PLC with the program saved in the SD, not the project saved in the PLC. The programs that were already running are stored in the PLC. If the PLC power is turned off, on after removing the SD card, it is driven by the existing program again.
  • Page 734 Chapter 12 SD Additional Function When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Config, Boot folder. The boot operation must be performed when the PLC is powered off. After installing the SD card in the PLC power off state, turn on the PLC power while pressing the SD CMD button.

  • Page 735: Automatic Logging Function

    Chapter 12 SD Additional Function 12.1.8 Automatic Logging Function This function is to change the data log parameters saved in the PLC and it executes automatically logging according to the setting file stored in the SD card. There are the items for automatic logging setting on the top left of the data log parameters window. If you save the auto logging settings after setting the parameter related to data log, you can save the setting file to the desired path.

  • Page 736: Error Codes And Countermeasures

    Chapter 12 SD Additional Function 12.1.9 Error Codes and Countermeasures The error codes related to SD additional features are as follows. The error code is displayed together with the additional function mode. (For example, when there is no file password among PLC update functions (0x2005)  2: additional function mode, 5: error operation) Category Error code...

  • Page 737: Chapter 13 Built-In Analog Function

    Chapter 13 Built-in Analog Function Chapter 13 Built-in Analog Function 13.1 Overview Before using the analog input and output function, follow steps below. XMC-E32A Checking performance specification Specification •Operating environment •Analog input / output type and range •Digital output / input range Wiring Wiring •Wiring analog input / output...
  • Page 738 Chapter 13 Built-in Analog Function Performance specifications are as follows (1) Input performance specification Items Performance specification Number of channels 2 channels Type Voltage Current 1 to 5 V DC 4 to 20 ㎃ DC 0 to 5 V DC 0 to 10 V DC 0 to 20 ㎃...
  • Page 739 Chapter 13 Built-in Analog Function (2) Output performance specification Items Performance specification Number of channels 2 channels 1 to 5 V DC 0 to 5 V DC 0 to 10 V DC Analog Range -10 to 10 V DC output (Load resistance: 1 ㏀...

  • Page 740: Name Of Analog Part And Functions

    Chapter 13 Built-in Analog Function 13.2 Name of Analog Part and Functions ① ② ③ ④ Name Description Displays the operation status of analog input part • On: Normal operation ① A/D LED • Blinks: Error occurs (Flickering 1s intervals) •...

  • Page 741: Characteristic Of I/O Control

    Chapter 13 Built-in Analog Function 13.3 Characteristic of I/O Control Voltage/Current input ranges are able to set from each channel by using user program or I/O parameter. Data output type of digital is defined as shown below. (1) Unsigned Value (2) Signed Value (3) Precise Value (4) Percentile Value...
  • Page 742 Chapter 13 Built-in Analog Function Precise value -240 5,000 10,000 15,000 20,000 20,239 (-240 to 20239) Percentile value -120 2,500 5,000 7,500 10,000 10,119 (-120 to 10119) (3) 1 to 5 V DC Input range Analog input voltage (V) Digital output range 0.952 5.047 Unsigned Value...
  • Page 743 Chapter 13 Built-in Analog Function 13.3.2 Output Characteristic Gain value 5.048 5.06 10.12 10.24 t i c 3.75V 7.5V Analog output 2.5V value 1.25V 2.5V -10V 0.952 -0.06 -0.12 -10.24 Offset value 8000 16000 Unsigned value -191 16191 Digital -8000 8000 Signed value -8192...
  • Page 744 Chapter 13 Built-in Analog Function (3) 0 to 10 V DC Output range Analog output voltage (V) Digital input -0.12 10.119 Unsigned value -192 4,000 8,000 12,000 16,000 16,191 (-192 to 16,191) Signed value -8,192 -8,000 -4,000 4,000 8,000 8,191 (-8,192 to 8,191) Precise value -120...

  • Page 745: Accuracy

    Chapter 13 Built-in Analog Function 13.4 Accuracy 13.4.1 Input Accuracy Accuracy of digital output value does not changed even if input range is changed. Figure below shows the range of the accuracy with analog input range of 0 to 10 V and digital output type of unsigned value selected. Accuracy is ±0.2% (Ambient temperature of 25±5℃).

  • Page 746: Output Accuracy

    Chapter 13 Built-in Analog Function 13.4.2 Output Accuracy Accuracy of digital output value does not changed even if input range is changed. When digital input range is selected with unsigned value, accuracy is ±0.2% (Ambient temperature of 25 ±5℃). 10.04 V 5.01 V 10.02 V 20.03 mA...

  • Page 747: Built-In Analog Functions

    Chapter 13 Built-in Analog Function 13.5 Built-in Analog functions Functions of embedded analog module are as described below. Function Description ● Specify Run/Stop of the channel to execute A/D, D/A conversion. Channel Run/Stop setting ● If the unused channel is set to Stop, whole Run time can be reduced. ●...

  • Page 748: Filter Processing

    Chapter 13 Built-in Analog Function 13.5.2 Filter Processing Pre-filter input value and specified channel are calculated as below. × × × Filtered Input Value Filter Constant Current Input Value Number used channels Filtered Value × Filter Constant Number used channels Setting range of Filter constant = 4 to 64,000 [ms] Input Input value after filtering...

  • Page 749: Average Processing

    Chapter 13 Built-in Analog Function 13.5.3 Average Processing (1) Time Average Input value of specified channel accumulates during setting time and then the average value of the sum is shown with digital data. Input value after average processing 평균처리후 입력값 실제...
  • Page 750 Chapter 13 Built-in Analog Function In case of count average, the average processing interval is calculated by depending on used channels. Average processing interval [㎳] = Number of average count × Number of used channels × 0.5 ㎳ (3) Moving Average The inputs into the designated channel are accumulated for the presser number, and its average is calculated and outputted in digital data.

  • Page 751: Detection Alarm (Input Disconnection)

    Chapter 13 Built-in Analog Function 13.5.4 Detection Alarm (Input Disconnection) In case that Input voltage (1 to 5 VDC) or Input current (4 to 20 mADC) is chosen with analog input range, the analog input module has diagnostic function by checking disconnection and showing. If the module shows disconnection, that means the parts of connections in the wiring connection are faulty.
  • Page 752 Chapter 13 Built-in Analog Function 13.5.5 Hold Last Value Function When input signal exceeds the effective range, last input value is held. This function can be set for each channel by I/O parameter setting or user program. (1) Used input range In the channels that allow the hold last value function, the actual ranges provided within each digital conversion value are shown.

  • Page 753: Hold Last Value Function

    Chapter 13 Built-in Analog Function 13.5.6 Alarm Function When the input signal is exceeded from valid value, the alarm will be shown through alarm flag of relevant channel. (1) Input detection condition Detection condition for each input signal range is as follows. Analog input range Signal difference Permission range...

  • Page 754: Interpolation Method Setting

    Chapter 13 Built-in Analog Function You can set an output status of channel among Previous, Min, Mid, Max value. (a) Previous value: The last output operated normally is retained. (b) Min: The Min value of each range is outputted. (c) Mid: The Mid value of each range is outputted. (d) Max: The Max value of each range is outputted.
  • Page 755 Chapter 13 Built-in Analog Function (c) S-type interpolation: The output is changed up to objective value with S-type during the interpolation time. Analog output value D / 8 Reaching a target value D / 2 D / 8 t / 4 t / 4 t / 4 t / 4...
  • Page 756 Chapter 13 Built-in Analog Function (6) Example The interpolation method is set to S-type interpolation and interpolation time is set to 60s. If the output is changed from 4 ㎃ to 20 ㎃, and then changed to 4 ㎃ again when it is reached to 20 ㎃, the output is as graph below. Analog Reaching a target value Change of the output value...

  • Page 757: Wiring

    Chapter 13 Built-in Analog Function 13.6 Wiring 13.6.1 Example for Wiring Analog Input (1) The input resistance of current input circuit is 250 Ω (typ.). (2) The input resistance of voltage input circuit is 1 MΩ or more. (3) Set the operation mode only if you want to use channels. (4) Example for analog input wiring When inputting the voltage, relevant channel V+ and COM terminal is used.
  • Page 758 Chapter 13 Built-in Analog Function (5) The example of analog input 2-Wire sensor/transmitter wiring (The current input) Use the I+ and COM terminal after connecting V+ with I+ terminal. 2-Wire Transmitter COM0 2-Wire Transmitter COM1 (6) The example of analog input 4-Wire sensor/transmitter wiring (The current input) Use the I+ and COM terminal after connecting V+ with I+ terminal.
  • Page 759 Chapter 13 Built-in Analog Function (7) Relationship between voltage input accuracy and wiring length In voltage input, the wiring (cable) length between transmitter or sensor and module has an effect on digital- converted values of the module as specified below; Load Analog input(Voltage) Where,...

  • Page 760: Example For Wiring Analog Output

    Chapter 13 Built-in Analog Function 13.6.2 Example for Wiring Analog Output (1) Example for analog voltage ·current output wiring Motor drive etc. 1kΩ or more ※1 1kΩ or more ※1 ※1: A twisted two core shielded wire should be used as wire. 13-24...

  • Page 761: Operation Parameter Setting

    Chapter 13 Built-in Analog Function 13.7 Operation Parameter Setting Built-in analog conversion module’s operation parameters can be specified through XG5000’s [I/O parameters]. (1) Settings For the user’s convenience of D/A conversion module, XG5000 provides GUI (Graphical User Interface) for parameters setting of D/A conversion module. Setting items available through [I/O parameters] on the XG5000 project window are as described below in the table.
  • Page 762 Chapter 13 Built-in Analog Function (c) [I/O Parameter setting] On the ‘I/O Parameter setting’ screen, find and clink the slot 1 (internal) which has embedded function. (d) Click the arrow button on the screen above to display the screen where an applicable module can be selected. Search and select the embedded analog input/output module to select.

  • Page 763: Special Module Monitoring Functions

    Chapter 13 Built-in Analog Function 13.8 Special Module Monitoring Functions Functions of Special Module Monitoring are as described below. (1) Start of [Special Module Monitoring] Go through [Online]  [Connect] and [Monitor]  [Special module Monitoring] to start. If the status is not online, [Special Module Monitoring] menu will not be activated.
  • Page 764 Chapter 13 Built-in Analog Function (b) Select “Special Module” and click [Module information] to display the information as shown below. (c) Click [Monitor] on the “Special Module” screen in [Special Module List] to display [Special Module Monitoring] screen as shown below. 13-28...
  • Page 765 Chapter 13 Built-in Analog Function (d) Start Monitoring: Click [Start Monitoring] to show digital input / output data of current operated channel. Monitoring Input channel 0 details Voltage output channel 0 details Execution screen of [Start Monitoring] 13-29...
  • Page 766 Chapter 13 Built-in Analog Function (e) Test: [Test] is a function to change the parameter of the embedded analog module which is presently set. In case of clicking the setting value in the bottom of the screen, you can change the parameter. [Test] is able to set only if operation status of motion controller is STOP.
  • Page 767 Chapter 13 Built-in Analog Function (f) Max/Min Value Monitor Max/Min value of input channel in operation can be monitored. However, visible Max/Min values are based on the present value. So Max/Min value is not saved when [Monitoring/Test Screen] is closed. [Max/Min Value Monitor] execution screen (g) Close [Close]: [Close] is used to escape from the monitoring/test screen.

  • Page 768: Automatic Register U Devices

    Chapter 13 Built-in Analog Function 13.9 Automatic Register U Devices Register the variables for each module referring to the special module information that is set in the I/O parameter. The user can modify the variables and comments. (1) Procedure (a) Select [Edit] – [Register Module Variable Comments]. (b) Click ‘Yes’.
  • Page 769 Chapter 13 Built-in Analog Function (c) As shown below, the variables are registered. 13-33...
  • Page 770 Chapter 13 Built-in Analog Function (2) Save variables (a) The contents of ‘View Variable’ can be saved as a text file. (b) Select [Edit]  [Export to File]. (c) The contents of ‘View variable’ are saved as a text file. (3) View variables in program (a) The example program of XG5000 is as shown below.
  • Page 771 Chapter 13 Built-in Analog Function (c) Select [View]  [Devices/Variables]. Devices and variables are both displayed. (d) Select [View] -> [Device/Comments]. Devices and comments are both displayed. (e) Select [View]  [Variables/Comments]. Variables and comments are both displayed. 13-35...
  • Page 772 Chapter 13 Built-in Analog Function 13-36...

  • Page 773: Configuration And Function Of Internal Memory

    Chapter 13 Built-in Analog Function 13.10 Configuration and Function of Internal Memory 13.10.1 I/O Area of Built-in Analog Data I/O area of built-in analog data is as displayed in table Built-in analog input Variable name Type Device Comment _01_AD0_ACT BOOL %UX0.1.16 Channel 0 Active _01_AD0_AVGTYPE...
  • Page 774 Chapter 13 Built-in Analog Function Built-in analog output Device Variable name Type Comment assigned _01_DA0_ACT BOOL %UX0.1.24 Channel 0(Voltage) Active _01_DA0_DATA WORD %UW0.1.8 Channel 0(Voltage) Input data _01_DA0_DATATYPE BYTE %UB0.1.28 Channel 0(Voltage) Input data type _01_DA0_ERR BOOL %UX0.1.40 Channel 0(Voltage) Error _01_DA0_INTP BOOL %UX0.1.64...
  • Page 775 Chapter 13 Built-in Analog Function Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 %UW0.1.0 Module ready Module error Bit On (1) : Normal Bit On (1) : Error Bit Off (0) : Error Bit Off (0) : Normal (2) Channel active information (a) This area shows the channel being used.
  • Page 776 Chapter 13 Built-in Analog Function (3) Channel error information (a) This area shows the channel error status. (b) _01_AD0_ERR(%UX0.1.32) : Input channel 0 error _01_AD1_ERR(%UX0.1.33) : Input channel 1 error _01_DA0_ERR(%UX0.1.40) : Output channel 0 error _01_DA1_ERR(%UX0.1.41) : Output channel 1 error Bit15 Bit4 Bit13...
  • Page 777 Chapter 13 Built-in Analog Function (5) Input disconnection / interpolation output status (a) This area shows the channel detecting input disconnection and being outputting interpolation. (b) _01_DA0_INTP(%UX0.1.64) : Output channel 0 outputting interpolation _01_DA1_INTP(%UX0.1.65) : Output channel 1 outputting interpolation. _01_AD0_IDD(%UX0.1.72) : Detecting Input channel 0 disconnection _01_AD1_IDD(%UX0.1.73) : Detecting Input channel 1 disconnection Bit15...
  • Page 778 Chapter 13 Built-in Analog Function (c) _01_DA0_DATA(%UW0.1.8) : Output channel 0 input data _01_DA1_DATA(%UW0.1.9) : Output channel 1 input data Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 %UW0.1.8 Output channel 0 digital data %UW0.1.9 Output channel 1 digital data (9) Operating channel setting.
  • Page 779 Chapter 13 Built-in Analog Function (11) Output range setting (a) The ranges of analog output voltage are DC 1~5V, DC 0~5V, DC 0~10V, DC -10~10V. (b) When the input range is not set or it is entered out of setting values, it is handled as range of DC 1~5V. (c) _01_DA0_RANGE(%UB0.1.24) : Output channel 0 range setting.
  • Page 780 Chapter 13 Built-in Analog Function (13) Built-in analog Output data type setting (a) The range of digital input data(D/A conversion) can be specified for respective channels. (b) If the input data range is not specified, the range of all the channels will be set to 0 ~ 16000. (c) _01_DA0_DATATYPE(%UB0.1.28) : Output channel 0 –...
  • Page 781 Chapter 13 Built-in Analog Function (16) Average value setting (a) Set to range of 4 ~ 16,000 as time average value. (b) Set to range of 2 ~ 64,000 as count average value. (c) Set to range of 2 ~ 100 as moving average value. (d) Set to range of 1~ 99 as weighted average value.
  • Page 782 Chapter 13 Built-in Analog Function (18) Output status setting (a) When the motion controller is stopped, set the analog output status (b) When the output status setting is not specified, output the previous value. Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7...
  • Page 783 Chapter 13 Built-in Analog Function (21) Interpolation operation value (a) Shows the interpolation operation value of each channel. (b) _01_DA0_INTPVAL(%UW0.1.25) : Output channel 0 interpolation operation value. _01_DA1_INTPVAL(%UW0.1.26) : Output channel 1 interpolation operation value. Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8...

  • Page 784: Example Program

    Chapter 13 Built-in Analog Function 13.11 Example Program (1) Setting I/O parameter (a) The input channel 0 is set with operation channel and the range is set with 4~20mA. (b) The voltage output channel 0 is set with operation channel and the range is set with 1~5V. 13-48...
  • Page 785 Chapter 13 Built-in Analog Function (2) Example program (a) Example of input program 1) The '%MX0' is on while the module normally operates. %UX0.1.0 (Module Error) = Off %UX0.1.15 (Module Ready) = On %UX0.1.16 (Channel 0 Run) = On %UX0.1.32 (Channel 0 Error) = Off 2) When the '%MX0' is on, conversion value (%UW0.1.5) of CH0 is moved to the '%MW100'.

  • Page 786: Troubleshooting

    Chapter 13 Built-in Analog Function 13.12 Troubleshooting The chapter describes diagnostics and measures method in case of any trouble occurs during use of built-in analog module. 13.12.1 LED Indication by Errors Built-in analog module has two LEDs and it is possible to check whether it had any error with the indication of LEDs. When channel When parameter setting Item...

  • Page 787: Troubleshooting

    Chapter 13 Built-in Analog Function 13.12.3 Troubleshooting (1) The AD or DA LED is turned off. The AD or DA LED are turned off. AC220V is supplied. Supply AC220V power. I/O information is shown in XG5000 software. Call our near agency or A/S center. When the abnormal PLC module is changed into normal one, it operates well.
  • Page 788 Chapter 13 Built-in Analog Function (3) The analog input value is abnormal. The analog input value is abnormal. The external DC24V is normal. Supply input power source of external DC24V. FG ground is normal. Modify FG ground correctly by referring wiring method from instructions.

  • Page 789: Chapter 14 Local Ethernet Function

    Chapter 14 Local Ethernet Function Chapter 14 Local Ethernet Function 14.1 Local Ethernet Function Motion controller can carry out the functions of Ethernet server using internal local Ethernet function. 14.1.1 Local Ethernet Parameter Settings Make a new project. Then user can see Local Ethernet Parameters as shown below figure. If user selects Local Ethernet Parameter item, Local Ethernet Parameter setting window will be displayed.
  • Page 790 Chapter 14 Local Ethernet Function To use the Local Ethernet function, user should set the parameters. (1) TCP/IP Setting Classification Description IP address Specify the IP Address of the applicable motion controller. Value necessary to check if destination station is on the same network of the Subnet mask applicable station.
  • Page 791 Chapter 14 Local Ethernet Function (3) Host table setting Classification Description Access allowed to applicable module of IP address registered in host table Enable host table (unregistered client(IP address) is prohibited from connection when enabled) (4) Available Device address Device Address Size(Word) Description...

  • Page 792: Local Ethernet Connection With Xg5000

    Chapter 14 Local Ethernet Function 14.1.2 Local Ethernet Connection with XG5000 After finishing Local Ethernet Parameter settings, download the settings to the motion controller, then user can connect to XG5000. Select Online Settings and set the options as shown below figure. (Notice: Motion controller’s Ethernet port does not support the relay function about remote connection.

  • Page 793: Local Ethernet Connection With Xgt Server

    Chapter 14 Local Ethernet Function 14.1.3 Local Ethernet Connection with XGT Server Set the Local Ethernet Parameters as shown below figure. User can use it as a XGT Server (LSIS dedicated Protocol Communication). 14.1.4 Local Ethernet Connection with TCP/IP Server Set the Local Ethernet Parameters as shown below figure.
  • Page 794 Chapter 14 Local Ethernet Function Below figure is about Modbus settings. . Note 1) Modbus TCP/IP server connection function allows RST packet transmission depending on the network condition.(TCP/IP protocol) So the user devices connecting to CPU module should have RST packet process. 2) Connection to user devices can be disconnected for retransmission time-out.

  • Page 795: Local Ethernet Diagnosis Information Function

    Chapter 14 Local Ethernet Function 14.1.5 Local Ethernet Diagnosis Information Function Motion controller provides local Ethernet diagnosis information function to monitor the status of local Ethernet. (1) Click the System Diagnosis as shown in the left figure after access through XG5000. 14-7...
  • Page 796 Chapter 14 Local Ethernet Function (2) Then, the current system is displayed as shown in the below figure. Put the mouse on the figure of the module and click the right mouse button. (3) If you click the loca1l Etnernet diagnostic information among the menus that occur when clicking the right mouse button, the local Etnernet diagnostic information window will be created as shown below.

  • Page 797: Ftp Server Functions

    Chapter 14 Local Ethernet Function 14.2 FTP Server Functions 14.2.1 Outline Motion controller supports the Transfer Protocol (File Transfer Protocol) to download the data log file from a remote site through built-in Ethernet port. The File Transfer Protocol is TCP/IP based protocol to be designed for file transfer and you can manage files in a remote site by using the File Transfer Protocol.

  • Page 798: Setting Ftp Server Parameters

    Chapter 14 Local Ethernet Function 14.2.3 Setting FTP Server Parameters You need to set parameters through XG5000 to use the FTP server function. (1) Input the “TCP/IP setting” parameters in the window for setting FEnet basic. - Input the IP address, subnet mask, gateway, DNS server address. - This address is commonly used for XGT server, Modbus TCP/IP server, SNTP service, FTP service.
  • Page 799 (8) When you execute [Online]  [Write Parameter], the parameters are written in the motion controller. Note 1. Unless you set the user ID and password, basic ID and password will be set initially - Default setting ID: LSIS - Default password: 0000 2. Rules for applying the user ID and password - You can enter the user ID and password that are composed of alphabetical characters and numbers but special characters are not available.

  • Page 800: How To Access To The Ftp Server

    Chapter 14 Local Ethernet Function 14.2.4 How to Access to the FTP Server Just one user can access to the FTP server at a time so using Windows FTP client is recommended. (1) How to use WINDOWS command prompt (a) First of all, execute the command prompt in Windows Note 1.
  • Page 801 Chapter 14 Local Ethernet Function (b) Enter the FTP command in command prompt to start the FTP session. (c) Enter the ‘open [IP address]’to access to the FTP server - You can enter the FTP [IP address] in the command prompt instead of using the open command. 14-13...
  • Page 802 Chapter 14 Local Ethernet Function (d) Enter the user ID and password to access to the FTP server. - It is normal that the password is not displayed on the screen. (e) When login is completed successfully, the message will be displayed; “User name accepted.” [Completion of FTP server access and login] 14-14...
  • Page 803 Chapter 14 Local Ethernet Function [Failure of FTP server login] (f) In case you access to the FTP server through windows command prompts, you cannot see the progress status of file download. Accordingly, you can check the current progress of file download by activating the HASH function. 14-15...
  • Page 804 Chapter 14 Local Ethernet Function (g) You can view the directories and file lists that exist in the drive currently through the ‘DIR’ command. (h) You can go into the lower folder through the ‘cd [Folder name]’command. If you execute the ‘DIR’ command again after going into the lower folder, only the files ahasnd folder lists that exist in the lower folder will be displayed.
  • Page 805 Chapter 14 Local Ethernet Function (i) Designate the directory path of the FTP client side that will download the file through the ‘lcd’ command. (j) Select the file to be imported through the ‘get’ command and download it. At this time, the file is located in the sub- group folder in DATALOG.
  • Page 806 Chapter 14 Local Ethernet Function (k) When the HASH function is activated and deactivated, the transmission status is shown in as below. 14-18...
  • Page 807 [drive volume:\] dir B:\ information Reading the specific file from the basic get [File path and file name get LSIS.CSV unit’s SD card to be read from the server] Showing only the names of files saved ls [drive volume:\]...
  • Page 808 Chapter 14 Local Ethernet Function Note 1. You need to distinguish ASCII from Binary command depending on the file extension. If you transmit the file with a wrong mode, the file will not work properly. (a) File extension names using ASCII: html, htm, txt, cgi, pl, php, phtml, php3, sql, c, ph, py, etc. (b) File extension names using Binary: gif, jpg, swf, png, exe, asf, wmv, zip, rar, gzip, tar, gz, etc.

  • Page 809: Firewall Setting

    Chapter 14 Local Ethernet Function 14.2.5 Firewall Setting When you access to the FTP server through Windows command prompts, FTP access may not be smooth since the FTP access is applied. When you have bad access, cancel a firewall or apply exception handling. If the FTP access is not smooth, refer to the below.
  • Page 810 Chapter 14 Local Ethernet Function (2) Registration of exceptional rules You can refer to the following procedures to register exceptional rules to a firewall. (a) Execute the control panel. (b) Execute the Windows Firewall. (c) If you execute the advanced settings, the below screen will pop up. 14-22...
  • Page 811 Chapter 14 Local Ethernet Function (d) Choose the inbound rules. (e) Choose ‘New Rules’ at the top of the right side. (f) Create the rules with the method preferred by a user. Note For registering exceptional rules, refer to the window manual. 14-23...

  • Page 812: Speed Up Of Ftp

    Chapter 14 Local Ethernet Function 14.2.6 Speed up of FTP Motion controller’s built-in FTP server is supposed to send one data packet per one scan to minimize the influence on the scan time. In this structure, if the response to the transmitted data packet is not received immediately, the next packet will not be sent until the response is obtained.
  • Page 813 Chapter 14 Local Ethernet Function (5) If there are several register folders, select one by one and find the folder where the current PC’s IP address is set in the right register value. (6) Click with the right mouse button on the right screen of the relevant folder and select New] [DWORD(32bit) value]. (7) Enter the value name as shown below.

  • Page 814: Sntp Client Functions

    Chapter 14 Local Ethernet Function 14.3 SNTP Client Functions 14.3.1 Outline of the Time Synchronization Protocol Motion controller supports the NTP(Network Time Protocol) that obtains the time information by accessing to the SNTP(Simple Network Time Protocol)server and synchronizes time. The NTP is the protocol to synchronize the time of the PLC connected to the network.
  • Page 815 Chapter 14 Local Ethernet Function Procedures Description Write parameters and Link Enable Select [Online] → [Write] in XG5000’s project window. If you click the [OK] button, ‘Write Parameters’ will be done. Note 1. When parameter setting is done, the PLC reads periodically the time value from the SNTP server. 2.The SNTP server IP address is initially set as follows.

  • Page 816: How To Setup A Local Ntp Server

    Chapter 14 Local Ethernet Function Note 3. If you want to use other SNTP servers, change the IP address and port No. of the SNTP server before input. Below is an example of public NTP server and port. Server address Port Support time.apple.com...
  • Page 817 Chapter 14 Local Ethernet Function (5) Check the below path. HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\W32Time\Config (6) Change the value of ‘AnnounceFlags’ to ‘5’ in the folder. (7) Reboot the computer. (8) Setup inbound firewall rules. (a) Run the Control Panel. (b) Run the Window Firewall (c) When you run the Advanced Settings screen will pop up as shown below.
  • Page 818 Chapter 14 Local Ethernet Function (d) Select inbound rules. (e) Select the new rule in the top right. 14-30...
  • Page 819 Chapter 14 Local Ethernet Function (f) Select the port and click Next button. (g) Select UDP(U) and Special local port(S). Input ‘123’ and click Next button. (h) Select Allow connections(A) and click Next button. 14-31...
  • Page 820 Chapter 14 Local Ethernet Function (i) Please select the checkbox to meet your security policy, and click Next button. (j) Input the server name(anything) and description and click Finish button. (k) Select the [Start] button of Windows for execution (Shortcut Key /Windowskey + R) (l) Enter ‘CMD’...
  • Page 821 Appendix 1 Flag List Appendix 1 Flag List (1) Type of flag (a) System flag This flag indicates the operation, state, and information of motion controller. Variable Type Address Description _SYS_STATE DWORD %FD0 PLC mode and states _RUN BOOL %FX0 _STOP BOOL %FX1...
  • Page 822 Appendix 1 Flag List Variable Type Address Description _NCPRM_ER BOOL %FX89 NC Parameter Error _NCPGM_ER BOOL %FX90 NC Program Check Error _PTASK_CYCLE_ER BOOL %FX91 Main Task Period Error _CTASK_CYCLE_ER BOOL %FX92 Cycle Task Period Error _SYSTEM_ER BOOL %FX93 System Error _TASK_PRM_USAGE_OVER_ER BOOL %FX94...
  • Page 823 Appendix 1 Flag List Variable Type Address Description RTC Time _RTC_TIME ARRAY[0..7] OF BYTE %FB52 Current RTC date _RTC_DATE DATE %FW30 Current RTC day _RTC_WEEK UINT %FW31 _RTC_TOD TIME_OF_DAY %FD16 Current time of RTC(ms unit) _KEY DWORD %FD17 Current state of the local key switch _AC_F_CNT UINT %FW36...
  • Page 824 Appendix 1 Flag List (b) Motion flag The flag displayed following are as follows. It displays the state and data of the motion controller. The flag related to axis is displayed as “_AXxx_...”(xx indicates the relevant axis No. : Decimal) and the flag related to axis group is displayed as “_AGyy_...”(yy indicates the axis group No.
  • Page 825 Appendix 1 Flag List 2) Motion axis flag The address information is the flag memory of axis 01. The address has 2,048bit (32LREAL) offsets per axis. Variable Type Address Description _AXxx_RDY BOOL %FX73728 Axis xx ready _AXxx_WARNING BOOL %FX73729 Axis xx warning occurrence _AXxx_ALARM BOOL %FX73730...
  • Page 826 Appendix 1 Flag List Variable Type Address Description _AXxx_DIR BOOL %FX73893 Axis xx operation direction _AXxx_JOG BOOL %FX73894 Axis xx JOG operation _AXxx_HOME BOOL %FX73895 Axis xx Homing operation _AXxx_POS_CTRL BOOL %FX73896 Axis xx position control operation _AXxx_VEL_CTRL BOOL %FX73897 Axis xx velocity control operation _AXxx_TRQ_CTRL BOOL...
  • Page 827 Appendix 1 Flag List Variable Type Address Description _AXxx_DRV_HOME BOOL %FX74629 Axis xx home input _AXxx_DRV_LATCH1 BOOL %FX74630 Axis xx LATCH1 input _AXxx_DRV_LATCH2 BOOL %FX74631 Axis xx LATCH2 input _AXxx_DRV_PARAMBUSY BOOL %FX74632 Axis xx read/write operations of the SDO parameter _AXxx_DRV_IN DWORD %FD2333...
  • Page 828 Appendix 1 Flag List Variable Type Address Description _AGxx_CMD_TPOS ARRAY[0..9] OF LREAL %FL3330 Axis group xx target position _AGxx_CMD_CPOS ARRAY[0..9] OF LREAL %FL3340 Axis group xx command position of current scan _AGxx_CMD_VEL LREAL %FL3350 Axis group xx target velocity _AGxx_CMD_ACCDEC LREAL %FL3351 Axis group xx command acc./dec.
  • Page 829 Appendix 1 Flag List 5) NC channel flag It displays the state of NC channel. NC channel flag is displayed as “_NCyy_...” (yy indicates the NC channel No.( Decimal)) Variable Type Address Description _NCyy_Ready BOOL %FX524288 NC Ch. yy NC ready _NCyy_Warning BOOL %FX524289...
  • Page 830 Appendix 1 Flag List Variable Type Address Description _NCyy_SpindleOverride LREAL %FL8208 NC Ch. yy spindle override _NCyy_SpindleStop BOOL %FX525376 NC Ch. yy spindle stop state _NCyy_SpindleCW BOOL %FX525377 NC Ch. yy spindle CW operation _NCyy_SpindleCCW BOOL %FX525378 NC Ch. yy spindle CCW operation _NCyy_SpindleCVelAgr BOOL %FX525380...
  • Page 831 Appendix 1 Flag List Variable Type Address Description _NCyy_ModalG_OneShot REAL %FD16476 NC Ch. yy G code modal value group 0 - One shot _NCyy_ModalG_Motion REAL %FD16477 NC Ch. yy G code modal value group 1 - Motion _NCyy_ModalG_CmdMode REAL %FD16479 NC Ch.
  • Page 832 Appendix 1 Flag List Variable Type Address Description _NC01X_Direction BOOL %FX532609 NC Ch. 01 axis X operation direction _NC01X_ForwardRun BOOL %FX532610 NC Ch. 01 axis X running to positive direction _NC01X_ReverseRun BOOL %FX532611 NC Ch. 01 axis X running to negative direction _NC01X_RapidTraverse BOOL %FX532612...
  • Page 833 Appendix 1 Flag List 7) SD memory flag Variable Type Address Description _SD_Attach BOOL %KX8256 SD attachment state _SD_Rdy BOOL %KX8257 SD memory ready _SD_Err BOOL %KX8258 SD memory error _SD_Init BOOL %KX8259 SD memory initializing state _SD_Closing BOOL %KX8260 SD memory closing state _SD_FATErr BOOL...
  • Page 834 Appendix 1 Flag List 8) Data log flag Variable Type Address Description _DL00_Enable BOOL %KX8224 Group 00 datalog enable state _DL00_Rdy BOOL %KX8960 Group 00 datalog ready _DL00_Act BOOL %KX8961 Group 00 datalog operation state _DL00_Err BOOL %KX8962 Group 00 datalog error state _DL00_Stoping BOOL %KX8963...
  • Page 835 Appendix 2 Error Information & Solution Appendix 2 Error Information & Solution Here describes the information error types and its solutions. (1) Function block error information Error code Error Description Solutions 0005 The current motion controller does not support the This command is not performed in the current version of the function block.
  • Page 836 Appendix 2 Error Information & Solution (2) System error information Error code Error Description Solutions 000E System Error Request for A/S if it occurs repeatedly even when the power is supplied again. 0017 Program Error Start the program after modifying and re-loading the program 0018 IO Configuration Parameter Abnormality Check the preservation status after uploading I/O parameter.
  • Page 837 Appendix 2 Error Information & Solution (3) Data log, SD additional function error information Error code Error Description Solutions Overall Error Code 0001 SD Card Recognition Error Format it to FAT32 and connect to SD memory 0002 Partition Information Error Format it to FAT32 and connect to SD memory 0003 File System Error...
  • Page 838 Appendix 2 Error Information & Solution (5) Motion error information Error code Error Description Solutions 0E00 3584 Command data range transmitted from XG5000 The problem can arise in the current controller version. Please was out of the allowed value. check the support version of XG5000 and controller. 0E01 3585 The XG5000 test operation function cannot be...
  • Page 839 Appendix 2 Error Information & Solution Error code Error Description Solutions 0E1E 3614 Encoder 1 input filter value of encoder parameter Set the encoder 1 input filter value of encoder parameter to a exceeded the setting range. value between 0 and 6. 0E1F 3615 Encoder 2 input filter value of encoder parameter...
  • Page 840 Appendix 2 Error Information & Solution Error code Error Description Solutions 0E61 3681 Cam data is abnormal. Download the data again from XG5000 and place requests for A/S it is occurs repeatedly after re-execution. 0F00 3840 It failed to change to EtherCAT INIT state. Check the communication cable status and slave operation status (power-on and error occurrence).
  • Page 841 Appendix 2 Error Information & Solution Error code Error Description Solutions 0F60 3936 The slave device address (Adp) setting value of Check the slave device address (Adp) range according to the ESC read command exceeded the range. EtherCAT command code(EcatCmd) setting value to set it. 0F61 3937 The data size setting value of the ESC read...
  • Page 842 Appendix 2 Error Information & Solution Error code Error Description Solutions 100C 4108 The command cannot be executed if it is Check the operable axis status of the command and execute the registered as an NC channel/axis and is in NC command when the command can be run.
  • Page 843 Appendix 2 Error Information & Solution Error code Error Description Solutions 101F 4127 The command position value transmitted to the It exceeded a 32-bit area when the command position value was servo driver was out of the range of pulse unit converted in pulse unit.
  • Page 844 Appendix 2 Error Information & Solution Error code Error Description Solutions 104E 4174 The setting value of jog deceleration exceeded Set the parameter setting value to more than 0. the range. 104F 4175 The setting value of jog jerk exceeded the range. Set the parameter setting value to more than 0.
  • Page 845 Appendix 2 Error Information & Solution Error code Error Description Solutions 1082 4226 SuperImposed command cannot be executed Execute the SuperImposed command when it is not in operation during operation with speed control or torque with speed control or torque control. control.
  • Page 846 Appendix 2 Error Information & Solution Error code Error Description Solutions 10D5 4309 In case the gear operation main axis is set as an Confirm the encoder-related items of the encoder parameters, encoder, the gear operation command cannot be check if they are set to values within the range and set the executed if the encoder parameter setting error of encoder parameters to normal values by using XG5000.
  • Page 847 Appendix 2 Error Information & Solution Error code Error Description Solutions 10F5 4341 The parameter cannot be changed because the Change the minimum value of encoder 2 in advance to prevent minimum value of encoder 2 is out of the pulse errors when converted in pulse unit, and then change the unit expression value when the encoder parameter.
  • Page 848 Appendix 2 Error Information & Solution Error code Error Description Solutions 1122 4386 The cam table is not registered. Register the cam table or set the data again to execute the command. 1123 4387 The cam data of the cam data write command is Set the data of the cam data write command correctly.
  • Page 849 Appendix 2 Error Information & Solution Error code Error Description Solutions 1F10 7952 SDO commands can no longer be executed due Reset the connection after checking whether the status of the to the SDO processing failure of slave device that slave device is normal.
  • Page 850 Appendix 2 Error Information & Solution Error code Error Description Solutions 1F63 8035 Packet error occurred during file transfer. Check the status of the transmission line or slave and execute the command. 1F64 8036 There is a memory shortage in slave. Check the transferred file and execute the command.
  • Page 851 Appendix 2 Error Information & Solution Error code Error Description Solutions 2011 8209 The EtherCAT network connection was lost, and Check whether the EtherCAT network connection has been thus operation cannot continue. disconnected due to slave power supply error, network cable error and noise inflow on network cable during operation of the axis group.
  • Page 852 Appendix 2 Error Information & Solution Error code Error Description Solutions 2043 8259 The configuration axis number setting value of the Set the configuration axis of the axis group in the range of 1~36. axis group parameter exceeded the range. 2051 8273 The axis which you are going to add is already...
  • Page 853 Appendix 2 Error Information & Solution Error code Error Description Solutions 2090 8336 The absolute coordinate linear interpolation Execute the command after making origin determination state command cannot be executed if the configuration with the homing command or the current position setting axis is in the undetermined origin state.
  • Page 854 Appendix 2 Error Information & Solution Error code Error Description Solutions 20AA 8362 Circular interpolation cannot be executed if the For circular interpolation, set the configuration axis for the axis axis configuration of the axis group is not group in regular sequence. configured in regular sequence.
  • Page 855 Appendix 2 Error Information & Solution Error code Error Description Solutions 20D4 8404 The conveyor synchronization command cannot Execute the command when the conveyor axis is not in homing be executed if the main axis is in homing operation. operation. 20D5 8405 The conveyor synchronization command cannot...
  • Page 856 Appendix 2 Error Information & Solution Error code Error Description Solutions 3009 12297 The automatic operation cannot continue Check whether the EtherCAT network connection has been because EtherCAT network connection is disconnected due to slave power supply error, network cable disconnected during the NC channel automatic error and noise inflow on network cable during the NC channel operation.
  • Page 857 Appendix 2 Error Information & Solution Error code Error Description Solutions 301A 12314 The automatic operation cannot continue Check whether the NC S axis is in servo-off state or drive alarm because NC S axis is not ready for operation. state.
  • Page 858 Appendix 2 Error Information & Solution Error code Error Description Solutions 3047 12359 The command position setting value of NC U It exceeded a 32-bit area when the command position value of axis was out of the pulse unit expression value. NC U axis was converted in pulse unit.
  • Page 859 Appendix 2 Error Information & Solution Error code Error Description Solutions 3059 12377 The command position of NC W axis was out of Deviate from the software upper limit range by using the reverse the software upper limit position. jog command in NC W axis, and then remove the error by executing the error reset command.
  • Page 860 Appendix 2 Error Information & Solution Error code Error Description Solutions 3069 12393 The command position of NC W axis was out of Deviate from the software lower limit range by using the forward the software lower limit position. jog command in NC W axis, and then remove the error by executing the error reset command.
  • Page 861 Appendix 2 Error Information & Solution Error code Error Description Solutions 3082 12418 The automatic operation cannot continue Remove the cause for abnormal condition after checking because drive abnormal condition (upper/lower whether the drive status of NC Y axis was changed to the upper limit, alarm, servo off) of NC Y axis occurs during limit/lower limit, or alarm occurrence or servo-off state during the the NC channel automatic operation.
  • Page 862 Appendix 2 Error Information & Solution Error code Error Description Solutions 3103 12547 The circular processing speed limit upper/lower Set the arc processing speed limit upper/lower limit cutting speed limit cutting feed rate setting value of NC channel value of the NC channel parameter to a value greater than 0. Set parameter exceeded the range.
  • Page 863 Appendix 2 Error Information & Solution Error code Error Description Solutions 3329 13097 The operation speed value of NC W axis Perform the override within the range that does not exceed the exceeded the speed limit value after the override speed limit after checking the speed limit value of the axis factor of the NC rapid traverse override connected to NC W axis.
  • Page 864 Appendix 2 Error Information & Solution Error code Error Description Solutions 3350 13136 The setting axis of the NC parameter read Check whether the setting axis of the NC parameter read command was not enabled as the NC axis. command was registered as NC channel/axis parameter. The NC channel/axis can be registered in the NC channel parameter among the motion data items of XG5000.
  • Page 865 Appendix 2 Error Information & Solution Error code Error Description Solutions 3508 13576 The NC channel interpreter (IPR) was not Execute the automatic operation start command executed normally. (NC_CycleStart) again after resetting the NC channel with the NC reset command (NC_Reset). 3509 13577 The automatic operation start command cannot...
  • Page 866 Appendix 2 Error Information & Solution Error code Error Description Solutions 3517 13591 The automatic operation start command cannot Execute the automatic operation start command be executed because NC U axis is not ready. (NC_CycleStart) when the NC channel configuration axes are all ready.
  • Page 867 Appendix 2 Error Information & Solution Error code Error Description Solutions 3531 13617 The automatic operation start command cannot Execute the automatic operation start command be executed because NC X axis is enabled as a (NC_CycleStart) with the NC channel configuration axis disabled motion axis group configuration axis.
  • Page 868 Appendix 2 Error Information & Solution Error code Error Description Solutions 3547 13639 The position unit or speed unit setting of NC U For NC operation, set the unit of the NC channel configuration axis is invalid. axis to mm or deg. Set the unit of speed to unit/min. 3548 13640 The position unit or speed unit setting of NC V...
  • Page 869 Appendix 2 Error Information & Solution Error code Error Description Solutions 3636 13878 The NC_Home command cannot be executed Execute the NC command after NC_Reset or NC_Emergency when it is resetting by NC_Reset or command ends. NC_Emergency command. 3640 13888 NC M-code operation completion command Execute the M-code operation completion command cannot be executed when M-code output Strobe...
  • Page 870 Appendix 2 Error Information & Solution Error code Error Description Solutions 3675 13941 The data setting value of the parameter set in the Check the data setting range of the parameter to be set, and NC parameter write command exceeded the then execute the parameter write range.
  • Page 871 Appendix 2 Error Information & Solution Error code Error Description Solutions 3810 14352 In NC feed per rotation mode, the cutting feed Set the rate of the cutting feed operation to a value other than 0 operation rate was set to 0. in NC feed per rotation mode.
  • Page 872 Appendix 2 Error Information & Solution Error code Error Description Solutions 3841 14401 The radius setting was incorrect in NC circular The radius value of the circle where the NC circular interpolation interpolation. operation can be executed is greater than 0 and less than or equal to 2,147,483,647pulse based on the pulse unit.
  • Page 873 Appendix 2 Error Information & Solution Error code Error Description Solutions 3F09 16137 Interpreter (IPR) parsing error - It is a TANGENT Check whether there is a program error in the block after operation error. confirming the 'error block number' among the NC channel flags. The automatic operation can be executed again after the NC channel is reset with the NC reset command NC_Reset).
  • Page 874 Appendix 2 Error Information & Solution Error code Error Description Solutions 3F14 16148 Interpreter (IPR) parsing error - It is not possible Check whether there is a program error in the block after to find the next block to proceed with. confirming the 'error block number' among the NC channel flags.
  • Page 875 Appendix 2 Error Information & Solution Error code Error Description Solutions 3F1F 16159 Interpreter (IPR) parsing error - It is not possible Check whether there is a program error in the block after to be commanded simultaneously in one block. confirming the 'error block number' among the NC channel flags.
  • Page 876 Appendix 2 Error Information & Solution Error code Error Description Solutions 3F2B 16171 Interpreter(IPR) parsing error - Only a single axis Check whether there is a program error in the block after command is available in chamfering and confirming the 'error block number' among the NC channel flags. rounding.
  • Page 877 Appendix 2 Error Information & Solution Error code Error Description Solutions 3F36 16182 Interpreter(IPR) parsing error - It is unused M Check whether there is a program error in the block after code. confirming the 'error block number' among the NC channel flags. The automatic operation can be executed again after the NC channel is reset with the NC reset command NC_Reset).
  • Page 878 Appendix 2 Error Information & Solution Error code Error Description Solutions 3F41 16193 Interpreter(IPR) parsing error - It is a constant Check whether there is a program error in the block after surface speed control mode in polar coordinate confirming the 'error block number' among the NC channel flags. and cylindrical interpolations.
  • Page 879 Appendix 3 Setting Example Appendix 3 Setting Example It describes how to set when using the motion controller at the beginning. (1) Install the servo driver. Connect the power and motor to the servo driver and connect external signal as necessary. (2) Install motion controller.
  • Page 880 Appendix 3 Setting Example Notes When the installation of servo drive has completed, make sure to check the following points by using dedicated setting TOOL provided by the servo drive manufacturer; failure to meet the standards requires reset to meet the actual user condition. 1.
  • Page 881 Appendix 3 Setting Example (6) In the figure below, set up Project name, CPU series, CPU type, Program name to create new project. (7) If you set up as the figure above, the project will be created as follows. (8) Turn on motion controller and servo driver and connect PC with motion controller through USB or Ethernet cable. A3-3...
  • Page 882 Appendix 3 Setting Example (9) Select “Online(O)- Connection Setting(O)” and set up connection settings. (10) Select “Online(O)-Connect(N)” to connect PC with motion controller. (11) If connection is complete, the controller will be shown in ‘Run’ or ‘Stop’ as follows. (12) If the controller doesn’t become “Online” and keeps “Offline”, check whether the controller is connected cable, is turned on. A3-4...
  • Page 883 Appendix 3 Setting Example (13) Check if motion controller is in Stop state. If motion controller is in Run state, change it to Stop state and execute the next steps. (14) Writing must be executed in the motion controller after setting the servo drive actually connected to the network parameter in order to execute the connection with servo drive.
  • Page 884 Appendix 3 Setting Example (16) When the slave information window comes up, click the“…” button next to the slave name. (17) Select the servo drive connected first to motion controller in the servo drive selection window and click OK. A3-6...
  • Page 885 Appendix 3 Setting Example (18) When the axis number setting is completed, the servo drive added earlier is indicated in slave of EtherCAT parameter. (19) Execute the servo drive addition in the same way for the other servo drives. This is the screen to show all the servo drives actually connected to slave parameter are added. A3-7...
  • Page 886 Appendix 3 Setting Example (20) After setting the slave, connect the set slave and the axis to be controlled by the motion controller. The axes are set in the order that the slave is set but the user can arbitrarily assign slaves to the axes. Select the axis parameters in the project tree, right-click and select "Axis / slave connection"...
  • Page 887 Appendix 3 Setting Example (22) When the project writing window comes up, check in the EtherCAT parameter and check OK to execute writing. This is the screen to show the whole execution process of project writing. A3-9...
  • Page 888 Appendix 3 Setting Example (23) Select "Online – Slave - Connect” to execute communication link between motion controller and servo drive. (24) When the link is completed, the servo drive name of slave parameter is activated to black from gray. Execute the "View –...
  • Page 889 Appendix 3 Setting Example Notes When connecting the network for the first time after the system configuration using motion controller, use "slave auto connection" to conveniently execute connection to servo drive without setting the EtherCAT slaver. 1. Execute the “Online - slave - auto connection” menu. 2.
  • Page 890 Appendix 3 Setting Example Notes 4. When executing the “slave auto connection" command, the EtherCAT slave information currently connected to the EtherCAT parameter slave parameter of XG5000 is automatically registered if the connection command is completed normally. (25) Read SDO parameter to set operation parameter and SDO parameter of EtherCAT slave. Select “Online -Read”in the menu and select the item to be read.
  • Page 891 Appendix 3 Setting Example (26) Following is the reading of servo parameter content of L7NH servo drive. The content of servo parameter can differ depending on the types of servo drive. Refer to the instruction manuals of each servo drive for details. A3-13...
  • Page 892 Appendix 3 Setting Example (27) SDO parameter can be set in two ways. First method is only to change the value of one item of SDO parameter; select the 'Allow SDO Parameter(Individual) Change during Operation' checkbox and set the SDO parameter value that you want to change, then the set value is applied to slave(servo drive) immediately.
  • Page 893 Appendix 3 Setting Example When writing the whole SDO parameter, "Save SDO parameter to EEPROM" command is automatically executed. Therefore, you do not need to execute "SDO parameter to EEPROM" separately. Refer to the instruction manual of the relevant slave(servo drive) because sometimes modified set value is applied after the power is on/off depending on the item of SDO parameter.
  • Page 894 Appendix 3 Setting Example (30) After selecting the command axis and turning on the servo of the relevant axis, check if the relevant axis is in servo on state and check the motor operation by operating the motor using jog or others. ②...
  • Page 895 Appendix 3 Setting Example (32) Create motion program. The exercise below is for the case that 2 servos are set to 1 & 2 axes using XGK CPU, and LS_CONNECT is used for connection and the connected axis is servo on by using MC_Power. The rest of the exercise can be added as user's need. Motion task can be divided into main task, periodic task, and initialization task.
  • Page 896 Appendix 4 Dimension Appendix 4 Dimension A4-1...
  • Page 897 Appendix 5 ESC(EtherCAT Slave Controller) Register Appendix 5 ESC(EtherCAT Slave Controller) Register The following table is the information ESC(EtherCAT Slave Controller) Register. For information on the all area, refer to the EtherCAT Registers(SectionⅡ) datasheet on the BECKHOFF website below. http://www.beckhoff.com/english.asp?download/ethercat_development_products.htm 1.
  • Page 898 Appendix 5 ESC(EtherCAT Slave Controller) Register Description ECAT Reset Value Communication on Port 1: r*/- 0: No stable communication 1: Communication established Loop Port 2: r*/- 0: Open 1: Closed Communication on Port 2: r*/- 0: No stable communication 1: Communication established Loop Port 3: r*/- 0: Open...
  • Page 899 Appendix 5 ESC(EtherCAT Slave Controller) Register 2. RX Error Counter (0x0300:0x0307) Errors are only counted if the corresponding port is enabled. Description ECAT Reset Value Invalid frame counter of Port y (counting is stopped when 0xFF is reached). w(clr) 15:8 RX Error counter of Port y (counting is stopped when 0xFF is reached).
  • Page 900 Appendix 5 ESC(EtherCAT Slave Controller) Register NOTE: AL Status register is only writable from PDI if Device Emulation is off (0x0140.8=0), otherwise AL Status register will reflect AL Control register values. * Reading AL Status from ECAT clears ECAT Event Request 0x0210[3]. 7.
  • Page 901 Appendix 6 Using EtherCAT salves from other companies Appendix 6 Using EtherCAT slaves form other companies Describes how to use the EtherCAT slaves from other companies that is not existed ESI file in XG5000, to XMC-E32A. (1) EtherCAT slave information file (ESI) The information of the EtherCAT slave is defined by the ESI (EtherCAT Slave Information) file, which is supplied by the manufacturer of slave product.
  • Page 902 Appendix 6 Using EtherCAT salves from other companies 4) Window Explorer of ‘EtherCATXML’ folder is activated as shown below. (b) Adding function of EtherCAT slave information (ESI) file (provided by XG5000 4.22 or later version) EtherCAT slave information file In addition to bulk addition of ESI files by folder search, it provides individual ESI file addition function.
  • Page 903 Appendix 6 Using EtherCAT salves from other companies Window Explorer of ‘EtherCATXML’ folder is activated as shown below. 5) Navigate to the folder and select ESI file. (In the example below, there is ESI files in ‘E:\ ESIFiles’ folder) 6) Slave information the selected file is added to the ESI library window. A6-3...
  • Page 904 Appendix 6 Using EtherCAT salves from other companies Setting of slave supporting MDP (provided by XG5000 4.22 and XMC-E32A OS 1.1 or later version) The MDP (Modular Device Profile) is the EtherCAT standard(ETG50001) that defines the configuration data structure of EtherCAT slave.
  • Page 905 Appendix 6 Using EtherCAT salves from other companies The Slave is added as the sub item on Project tree (Motion data – EtherCAT parameter – Slave) (b) Editing Slave supporting MDP 1) Double-click on ‘Slave – Slave1(750-354)’ on project tree 2) Click on ‘Slot setup’.
  • Page 906 Appendix 6 Using EtherCAT salves from other companies (c) Check of PDO allocation information 1) Click on ‘PDO Setting’ 2) Check the PDO assignment window. 3) Check the slot number of current module in ‘SL number window’ 4) Check the object mapped to current slot address in ‘PDO window’ (d) Check of SDO parameter 1) Click on ‘SDO parameter’.
  • Page 907 Appendix 6 Using EtherCAT salves from other companies Check of PDO variable information 1) Double-click on ‘EtherCAT parameter – Master’ on project tree. 2) Click on ‘PDO variable’. 3) Check the added object with slot information. (The added PDO variable can be used as a variable specified and device in the program, after registering it in the global variable through ‘Register variable’.) Note In addition to manual configuration through user editing, Automatic configuration is provided for connection of slave...
  • Page 908 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. Environmental Management About Disposal LSIS’...
  • Page 909 Tel : 86-510-8534-6666 Fax : 86-510-8534-4078 2000 Millbrook Drive, Lincolnshire, Chicago, IL 60069, United States of America Tel : 847-941-8240 Fax : 847-941-8259 ※ LSIS constantly endeavors to improve its product so that information in this manual is subject to change without notice. 2018. 6...

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