Cimon PLC-S User Manual
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Cimon PLC-S User Manual

Positioning
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1.
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1.1 General .......................................................................................................................... 3
1.2 Output Pulse Level ........................................................................................................ 4
1.3 External Signal Wiring ................................................................................................... 5
1.3.1 PLC-S CPU IO Pin ................................................................................................................. 5
1.3.2 PLC-S CPU Positioning IO Pin .............................................................................................. 5
1.4 Specifications ................................................................................................................ 7
1.4.1 Performance Specifications ............................................................................................... 7
1.4.2 Input Signal Specifications .................................................................................................. 7
1.5 Positioning Parameter .................................................................................................. 8
Positioning User Manual

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Summary of Contents for Cimon PLC-S

  • Page 1: Table Of Contents

    1.2 Output Pulse Level ......................4 1.3 External Signal Wiring ....................5 1.3.1 PLC-S CPU IO Pin ......................... 5 1.3.2 PLC-S CPU Positioning IO Pin ....................5 1.4 Specifications ........................ 7 1.4.1 Performance Specifications ....................7 1.4.2 Input Signal Specifications ....................7 1.5 Positioning Parameter ....................
  • Page 2 1.8.3 TEACHn (n=1~2) ....................... 39 1.9 Error Code ........................41 1.10 CICON Configuration and Use ................... 43 1.10.1 Register the PLC-S Positioning Special Program ............43 1.10.2 Configure the PLC-S Positioning Special Program ............44 1.11 Positioning Control Usage Examples ................ 49 1.11.1 Positioning Example Using Scan Program ..............

  • Page 3: Positioning

    Positioning User Manual 1. Positioning 1.1 General The built-in positioning function of PLC-S CPU is NPN OPEN Collector type which outputs pulse train. By using the positioning module, positioning control is executed by stepping motor or servo motor.  The Number of Control Axis The number of control axes for positioning function is equal to the number of motors to be controlled.

  • Page 4: Output Pulse Level

    Positioning User Manual  Positioning Instruction PLC-S is equipped with dedicated commands for positioning and thus enables easy control.  Manual Operation Manual operation is made possible by JOG operation, Inching operation and general purpose Manual Pulse Generator (MPG). ...

  • Page 5: External Signal Wiring

    1.3.1 PLC-S CPU I/O Pin Input and output connectors of PLC-S CPU are structured as follows. 1.3.2 PLC-S CPU Positioning I/O Pin Input signals and internal circuit of PLC-S CPU positioning pin are as follows. Input Signals X Axis Y Axis Ext.
  • Page 6 In case of using ‘X Axis’ only, X0A, X0B, X0E, X0F can be used as digital input and output pins. In case of using ‘Y Axis’ only, X07, X08, X0C, X0D can be used as digital input and output pins. Output signals and internal circuit of PLC-S CPU positioning pin are as follows. Output Signal...

  • Page 7: Specifications

    Positioning User Manual 1.4 Specifications 1.4.1 Performance Specifications The following describes the performance specifications of CIMON PLC-S built-in Positioning function. Item Specification Number of Control Axis 2 Axes Interpolation 2 Axes Linear Interpolation (Less than 5kpps) Pulse Output Signal Open Collector Type (DC24V)

  • Page 8: Positioning Parameter

    Positioning User Manual 1.5 Positioning Parameter The following positioning parameters can be configured by using “Positioning for PLC-S” Special Program in CICON. The configured parameters are saved in the same area (flash memory) as that of sequence program and therefore will be preserved even after power is lost.

  • Page 9: Select Pulse Output (Address "0")

    Positioning User Manual 1.5.1 Select Pulse Output (Address “0”) This parameter allows a user to configure and select which pulse output (High Active or Low Active) modes to be used according to pulse input type of a servo or stepping motor driver connected with the positioning module.

  • Page 10: Bias Speed (Address "1-2")

    Positioning User Manual 1.5.2 Bias Speed (Address “1-2”)  Bias speed refers to the initial speed of the positioning operation.  Considering that torque of a stepping motor is unstable when its initial speed is almost at 0, the initial speed (bias speed) has to be set during early operation in order to facilitate motor’s rotation and to save positioning time.

  • Page 11: Software Upper/Lower Limit (Address "9-10" For Upper/ "11-12" For Lower)

    Positioning User Manual 1.5.5 Software Upper/Lower Limit (ADDRESS “9-10” Upper/ “11-12” for Lower)  Movable range of a machine in operation is called ‘stroke limit,’ and it sets the upper and lower limits of stroke into the software upper limit and software lower limit. The Software Upper and Lower Limit does not execute positioning if it operates out of the ranges configured in the parameters.

  • Page 12: Position Indication Of The Speed Control (Address "13")

    Positioning User Manual 1.5.6 Position Indication of the Speed Control (ADDRESS “13”)  This parameter allows a user to enable or disable the update of current position address while operations are performed under the speed control.  The speed control command outputs pulses according to the specified speed and direction until the axis stop signal is entered.

  • Page 13: Use External Upper/Lower Limit Input (Address "15")

    Positioning User Manual 1.5.8 Use External Upper/Lower Limit Input (ADDRESS “15”)  To use external upper limit (X08, X0B) and external lower limit (X07, X0A) input signals during operation, the [Use External Upper/Lower Limit Input] parameter must be set as 1. ...

  • Page 14: Origin Point Return Method (Address "21")

     Origin Point Return (OPR) is executed after power is supplied to confirm the position of the origin (a reference position when executing the positioning control). PLC-S provides 3 different OPR methods. a) Origin Point (ZERO) Detection after turning DOG OFF OPR begins with OPR High Speed in the OPR Direction configured at OPR parameters until DOG signal is turned ON to cause OPR to decelerate with OPR Low Speed.
  • Page 15 Positioning User Manual b) Origin Point (ZERO) Detection after decelerating when DOG signal is ON OPR begins with OPR High Speed in the OPR Direction configured at OPR parameters until DOG signal is turned ON to cause OPR to decelerate with OPR Low Speed. After the deceleration, the first ZERO signal is detected as well as the OPR ends at the same time.
  • Page 16 Positioning User Manual c) DOG Signal Detection  OPR begins with OPR High Speed in the OPR Direction configured at OPR parameters until DOG signal is detected (ON) to cause OPR to decelerate, stop and drive in the reverse direction with OPR Low Speed.

  • Page 17: Origin Point Return Direction (Address "22")

    Positioning User Manual 1.5.13 Origin Point Return Direction (ADDRESS “22”) This parameter configures the direction to go to the origin when OPR command is executed. 1.5.14 Origin Address (ADDRESS “23-24”) This parameter sets the address used as a reference point for positioning control (ABS system). When OPR is completed, the stop position address is changed to this address.

  • Page 18: Operation Data

    Positioning User Manual 1.6 Operation Data Description Offset Axis Item Remarks Function Enable Axis (1) / Disable Axis (0) Decelerate Stop Request (activated on rising edge, and auto reset) Emergency Stop Request (activated on rising edge) Forward JOG/Inching ON(1) / OFF(0) Backward JOG/Inching ON(1) / OFF(0) Control Flag reserved...

  • Page 19: Enable/Disable Axis

    Positioning User Manual Enable Axis (1) / Disable Axis (0) Decelerate Stop Request (activated on rising edge, and auto reset) Emergency Stop Request (activated on rising edge) Forward JOG/Inching ON(1) / OFF(0) Backward JOG/Inching ON(1) / OFF(0) Control Flag Error Clear Request (activated on rising edge, and auto reset) Run (0=Stop, 1=Running) Under position control Under speed control...

  • Page 20: Positioning Completed

    Inching Operation: If ‘Inching Movement’ was set as non-zero value, then ‘JOG/Inching ON’ activates Inching operation. It outputs predefined number of pulses (“Inching Movement”) to the drive unit from PLC-S when the signal is changed from OFF to ON. “Inching Speed” set in parameter is applied here.

  • Page 21: Positioning Data

    Positioning User Manual 1.6.5 Positioning Completed Flag Positioning Completed Flag turns ON when a positioning operation is completed. Duration can be configured by setting “Complete Output Signal Duration” in parameter. 1.6.6 OPR Completed Flag OPR Completed Flag turns ON at the end of dwell time after OPR. Reset (OFF) condition is listed here. ...

  • Page 22: Control Pattern

    Control Code must be ‘0’ at the end of ‘position data’ list.  While in operation, if the control code is zero (0), PLC-S terminates the series of positioning control and does not go onto the next item on the list.

  • Page 23: Specify The Target Axis Of Interpolation

    Dwell Time has expired. b) Continuous Control The Continuous Control is used when several position data need to be executed continuously. PLC-S automatically decelerates each time the positioning is completed. Acceleration is then carried out after the positioning speed reaches 0 to carry out the next position data operation. If Dwell Time is designated, the acceleration is carried out after the designated time elapses.

  • Page 24: Control Code

    Positioning User Manual 1.7.2 Interpolation Set the main axis and sub axis for interpolation control.  Non-Interpolation Used for normal single axis positioning control and does not require any further configurations.  Main Axis Y (Sub Axis X) This configuration specifies the corresponding position data as interpolation and designates Y as the Main Axis and X as the Sub Axis for the interpolation operation.
  • Page 25 When the movement direction is minus (-): Forward Positioning *For instance, If the start address is ‘1000’ and the target address is ‘5000,’ the PLC-S moves forward and stops at ‘5000.’ The overall movement amount is ‘5000 – 1000 = 4,000.’...
  • Page 26 Positioning User Manual 3) Positioning Special Module (PLC-S) Configuration A) How to configure X Axis Parameter The default setting for the X Axis is as follows. Item Setting Value Description Pulse Output Method High Active Select a desired pulse output type...
  • Page 27 When the movement direction is minus (-): Forward Positioning *For instance, If the start address is ‘1000’ and the target address is ‘5000,’ the PLC-S moves forward and stops at ‘6000’ (as opposed to ABS which stops at ‘5000’). The overall movement amount is ‘6000-1000=5,000.’...
  • Page 28 If the start address is ‘1000’ and the target address is ‘5000,’ the current coordinate (1,000) is cleared to zero (0) and then PLC-S moves forward and stops at ‘5,000’ according to the target address (as opposed to ABS which stops at ‘5000’ and INC which stops at ‘6000’).
  • Page 29 After the control code is configured as FSC in the X Axis position data and the operation speed is configured as 1000, the speed control is executed. 5) Positioning Special Module (PLC-S) Configuration A) The X Axis parameter setting is the same as the ABS configuration.
  • Page 30 Positioning User Manual B) How to configure X Axis Position Data Position Control Acceleration Deceleration Control Dwell Operation Target Interpolation Data No. Pattern Time Time Code Time Speed Address Single Non- No. 1 No. 1 1,000 Step Interpolation C) The Scan Program setting is the same as the ABS configuration. e) NOP No operation is performed.
  • Page 31 Positioning User Manual f) LOOP / LEND The LOOP command is used for loop control by the repetition of LOOP to LEND. It is repeated for a specified number of times from the position data number assigned to LOOP to the position data number assigned to LEND. Nesting loop is allowed and LOOP / LEND have to be set as ‘continuous control’...

  • Page 32: Positioning Instruction

    This command executes the positioning data assigned as ‘n2’ of the positioning module assigned as ‘n1.’ a) n1 (Positioning Module Slot number) Must be zero (0) for PLC-S since the CPU module is in the 0th slot. b) n2 (Positioning Data number) Type in the desired positioning data number to be executed.

  • Page 33: Posctrl

    Device area is used to conduct the positioning control instead of using the position data. a) n1 (Positioning Module Slot number) Must be zero (0) for PLC-S since the CPU module is in the 0th slot. b) n2 (Control Parameter) Device memory in which parameters such as axis, command and control parameter are stored.
  • Page 34 Positioning User Manual n2: Axis to be controlled (1..2) n2+1: Command Code n2+2 ~ n2+9: Data necessary for positioning control The following table describes in detail with respect to the operation according to the Command Code. Command Code Operation Description Change current position Enter a new position address (DWORD) in the parameter.
  • Page 35 Positioning User Manual (Example) a) Change the current coordinates When the M101 Bit is turned ON, the current coordinates will be set as 1000 and the OPR is completed. b) Change the operation speed When the M101 Bit is turned ON while the speed control is at 500 PPS using FSC or RSC commands, the current speed is changed to 1,000 PPS.
  • Page 36 Positioning User Manual c) Inching Operation The example below describes an inching operation that moves the distance of 300 PPS after configuring the inching speed as 100 PPS. In the X-Axis parameter setting, the inching speed is configured as 100 PPS and the amount of movement is configured as 300 PPS. d) Change Target Address When executing the position control to the target address (5,000) configured by ABS, INC and FEED position data, it changes the target address (8,000) configured in the POSCTRL.
  • Page 37 Positioning User Manual e) Change parameter for WORD or DWORD It changes the WORD or DWORD configurations of the positioning parameter stated in Section 1.5. 1) When changing the WORD When changing the Inching Speed 2) When changing the DWORD When changing the Software Upper/Lower Limit (DWORD) f) Indirect Operation The position data such as the table below can be configured by indirect operation (ABS) via scan...
  • Page 38 Positioning User Manual Offset Item Description Unit Control Pattern 00 = Single step control Interpolation 00 = Non-Interpolation Accelerate Time Acc/Dec Number 1 Decelerate Time Acc/Dec Number 1 Control Code 8..F Dwell Time mSec Operation Speed 1,000 Target Address 5,000 Pulse The analysis of [MOV H0100 D32] is shown in the table below.

  • Page 39: Teachn (N=1~2)

    This instruction changes a parameter of position data that have already been configured and defined. a) n1 (Positioning Module Slot number) Must be zero (0) for PLC-S since the CPU module is in the 0th slot. b) n2 (Device Memory Block) This flag configures the start address that stores the parameters in the format as shown below.
  • Page 40 Positioning User Manual Setting data is to specify the speed or the coordinate value of the double word length according to the setting items. Below is an example of a sequence program to change the operation speed of the X-Axis position data number 18 to 12345.

  • Page 41: Error Code

    No error Normal operation status When using the built-in High Speed Counter function of Disable Y-axis PLC-S, Y-axis is disabled to use the pulse output. Emergency Stop Stop by the emergency stop command. H/W upper limit Exceeds position limit (H/W upper limit signal detected)
  • Page 42 Positioning User Manual A command to change target address is issued while the Target address axis stops or dwells. (A command to change target address change error is possible during a phase of acceleration, deceleration or constant speed). Another position control command is issued while the axis Duplicated position control is in operation.

  • Page 43: Cicon Configuration And Use

    1.10.1 Register the PLC-S Positioning Special Program Go to ‘File’ → ‘New Program’ → Select [Positioning for PLC-S]. *Only one [Positioning for PLC-S] special program can be configured for a CICON project. Enter the Program Name, Program ID and Program Free Space (Online Edit Buffer).

  • Page 44: Configure The Plc-S Positioning Special Program

    Positioning User Manual 1.10.2 Configure the PLC-S Positioning Special Program The PLC-S Positioning Special Program Configuration Window is shown below. a) Start Address You can select M, L, K, D devices for storing the positioning parameters. While in Monitor Mode or the monitor screen is displayed, you cannot select the Start Address.
  • Page 45 Positioning User Manual b) X / Y Axis Parameter You can configure below parameters using the PLC-S Positioning Special Program. Because the setting parameters are stored in the same memory area (flash memory) in which a sequence program is stored, the settings are preserved even after the power is removed.
  • Page 46 Positioning User Manual *Inching Movement has been added.  AXIS: Select X Axis or Y Axis. When the axis changes, so does the device. It displays the current value of the device in the information field.  ENABLE / DISABLE: Read: It determines the current activation status of the axis.
  • Page 47 Error Reset stops the Monitor Mode if it was in Monitor Mode. e) Save It saves the PLC-S Positioning Special Program. When the program is saved successfully, a confirmation message will appear in the Message Window as shown below. f) Online Modify It downloads the PLC-S Positioning Special Program during the positioning operation.
  • Page 48 Positioning User Manual h) Control Code Table Code Symbol Function Remark Decimal Absolute position control Incremental position control Incremental position control FEED after resetting current address Speed control (Forward) Speed control (Backward) No operation Next step set value is stored in JUMP Forced to change next step No.

  • Page 49: Positioning Control Usage Examples

    Positioning User Manual 1.11 Positioning Control Usage Examples 1.11.1 Positioning Example Using Scan Program This is a positioning example using a san program. When you press the button on X00, it is going to perform positioning to +2500 and then to -2500. a) Circuit Wiring ①...
  • Page 50 Positioning User Manual b) PLC-S Positioning Special Program Configure the PLC-S Positioning Special Program as follows. ① Configure the Start Address as ‘D0.’ ② Configure the Pulse Output Type as ‘Low Active.’ ③ Configure the Bias Speed at Start (PPS) as ‘500.’...
  • Page 51 Positioning User Manual c) Write a Scan Program Write a scan program as follows. ① Initialize to make the current position value as zero (0). Please refer to Section 1.8.2 ‘POSCTRL.’ ② Positioning in Forward JOG to +2500 and then decelerate to stop. D0 is a control flag and is composed of 16Bit.
  • Page 52 Positioning User Manual d) Monitor the Operation ① After running the program, it is in initial stage. The current position is initialized to zero (0). ② Turn on X00 to ‘Enable’ the operation and the Monitor displays the below information.
  • Page 53 Positioning User Manual ③ After positioning to +2500, Backward JOG operation moves to -2500 and then it decelerates.

  • Page 54: Positioning Example Using Positioning Data

    The wiring connection is identical to that of the 1.11.1 Example. b) PLC-S Positioning Special Program Configure the X Axis Parameter of PLC-S Positioning Special Program as follows. ① Configure the Pulse Output Type as ‘Low Active.’ ② Configure the Bias Speed at Start (PPS) as ‘1000.’...
  • Page 55 Positioning User Manual Configure the X Axis Position Data as follows. When you want to control the positioning sequentially, configure the Operation Pattern as ‘Continuous Control’ and set the last one as ‘Single Step Control.’ Please refer to 1.7.4 Control Code. c) Write a Scan Program When you turn on X00, it is going to perform positioning control from No.

  • Page 56: Positioning Example Using Opr

    Positioning User Manual 1.11.3 Positioning Example Using OPR  Starting from its current location 2500, this example turns on X01 to execute OPR and presses the button X0E (DOG signal) three times in order to return to the origin point. ...
  • Page 57 Positioning User Manual b) PLC-S Positioning Special Program Configure the X Axis Parameter of PLC-S Positioning Special Program as follows. ① Configure the Start Address as ‘D0.’ ② Configure the ACC/DEC Time1 (mSec) as ‘1000.’ ③ Configure the OPR setting as follows.
  • Page 58 Positioning User Manual c) Write a Scan Program Write a Scan Program as follows. ① The value of the current position will be set to 2500 when the device operates. ② When X00 is turned on, OPR (Origin Position Return) will be executed. If you press the DOG button connected to A9 (A0E) three times, the current position will be 0.
  • Page 59 Positioning User Manual ② When X00 is turned on  As OPR is turned on, the Monitor displays it is controlling OPR.  As it is configured in the Positioning Special Program, the direction of OPR is Backward. ③ When X0E is turned on once ...
  • Page 60 Positioning User Manual ④ When X0E is turned on twice  The direction of OPR is modified from ‘Forward’ to ‘Backward.’ ⑤ When X0E is turned on three times  ‘Complete OPR Control’ is ON and the current position becomes 0 Pulse according to the set value of ‘Origin Position’...

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