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NSD Varlimit VS-212DN User Manual

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NSP-Z2004-7
U S E R 'S M A N U A L
V S -2 1 2 D N

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Summary of Contents for NSD Varlimit VS-212DN

  • Page 1 NSP-Z2004-7 U S E R 'S M A N U A L V S -2 1 2 D N...
  • Page 3 - Be sure to store the controller in designed temperature and humidity CAUTION range, and do not exposed to direct sunlight. - Be sure to consult with NSD when the controller is stored for long - Be sure to handle the controller as industrial waste while periods.
  • Page 4 Revision History * The Document No. appears at the upper right of this manual's cover page. Document No. Date Revision Description NSP-Z2004 11, Mar., 2002 1st Edition Japanese document: ZEF003800201 NSP-Z2004-1 6, Feb., 2006 2nd Edition Japanese document: ZEF003800201 NSP-Z2004-2 1, Feb., 2008 3rd Edition Japanese document: ZEF003800201...

  • Page 5: Table Of Contents

    CONTENTS ....................1-1 OVERVIEW ....................1-2 Features ....................1-3 Definitions ..................2-1 SPECIFICATIONS ................2-1 General Specifications ............. 2-1 Performance Specifications ..........2-2 External Input / Output Specifications ........2-3 Terminal Block Input / Output Specifications ................2-3 DeviceNet Specifications ................2-4 ABSOCODER Sensor .............
  • Page 6 3.5.10 Preset Value Writing for Current Position Preset Input .... 3-18 3.5.11 Current Position Preset ‘Input Disabled’ Setting (Writing) .... 3-18 3.5.12 Target Stop Position Writing ..........3-19 3.5.13 Forward/Reverse Stop Zone After Learning Function (Reading) ... 3-19 3.5.14 Speed Limit Writing .............
  • Page 7 ............. 6-1 Current Position Detection Function ............. 6-2 Pre-Operation Setting Sequence Initial Setting ..................6-3 Initial Setting List ..................6-3 Sensor selection/sensor rotation direction setting ......6-4 6.3.1 6.3.2 Decimal point position setting ..........6-4 6.3.3 Scale length and minimum current position value setting .... 6-5 6.3.4 Current position value setting ..........
  • Page 8 ........7-16 Positioning Function and Operation Sequence Initial Settings ..................7-17 Parameter Settings ................. 7-17 Parameter List ..................7-18 7.5.1 Selection of positioning format ........7-18 7.5.2 Designation of positioning direction ........7-19 7.5.3 Designation of overshoot amount ........7-19 7.5.4 Designation of medium-speed zone, low-speed zone, stop zone, and In-position zone ......
  • Page 9 Sequence Program Sample ............. 8-10 8.6.1 Initial settings and parameter settings ........8-10 8.6.2 Program for limit switch output function ........8-10 8.6.3 Program for limit switch output function (Program No. 0) .... 8-12 8.6.4 Writing program to program Nos. 1-8 ........

  • Page 10: Overview

    1. OVERVIEW This manual describes the VS-212DN specifications and the operation and programming procedures when the VS-212DN is used together with DeviceNet. Designed to replace limit switches, the VS-212DN unit features a rotary position sensor which detects the machine's position. The detected position is then compared with the setting position value, and the appropriate motor control signals are output accordingly.

  • Page 11: Features

    1.1 Features The VS-212DN has the following features: (1) Absolute position detection: Rotational position is detected by an absolute position detection format. Even when a power outage, etc., occurs, the correct address of the ABSOCODER sensor's current position will be instantly detected when power is turned back ON.

  • Page 12: Definitions

    1.2 Definitions (1) ABSOCODER ABSOCODER is the generic name given to the NSD-developed position sensor which detects rotational/linear displacement, speed, and acceleration, using an absolute position detection format with a digital (or analog) output. The ABSOCODER sensor consists of two main components: The sensor, where displacement is detected by the change in magnetic resistance, and the converter, where the sensor’s output signal (when an AC excitation signal has been applied to the sensor) is...
  • Page 13 (7) SCALE LENGTH This refers to the maximum distance over which the ABSOCODER sensor can execute absolute detection. The scale length can be designated in units which match the machine's travel amount (mm, inches, degrees, etc.). For multi-turn type ABSOCODER sensors (MRE Series), the scale length will be the machine's travel amount which corresponds to the prescribed number of sensor shaft turns (32, 64, 128, 160, 256, 320).
  • Page 14 (9) CURRENT POSITION VALUE This value indicates where the machine is currently positioned within the machine detection range. This can be expressed in two ways: By a sensor binary current position value, or by a scaling binary current position value. (a)Sensor binary current position value: With this format, a digital output of '0' will occur (in response to the ABSOCODER sensor's input signal) when the machine is at the 'minimum current position value' position designated at item 8...

  • Page 15: Specifications

    2. SPECIFICATIONS 2.1 General Specifications Item Specifications Power supply voltage 24 VDC±10％ (Including ripples) Current consumption 0.5A or less 20 MΩ or more between the external power terminal and enclosure (tested by Insulation resistance 500VDC meg-ohmmeter) Withstand voltage 500 VAC 60 Hz for 1 minute between external DC terminals and enclosure 20 m/s ･10 to 500 Hz, 10 cycles of 5 minutes in 3 directions.

  • Page 16: External Input / Output Specifications

    2.3 External Input / Output Specifications Input specifications Output specifications Item specifications Item specifications Current position preset: Positioning output: Number of Input Number of Output 2 points × 2 axes 8 points × 2 axes Isolation format Photo-coupler Isolation format Photo-coupler Rated input voltage (V) 12 VDC...

  • Page 17: Terminal Block Input / Output Specifications

    Power supply and shared common o Internal Circuit 2.5 DeviceNet Specifications Items Specifications DeviceNet specifications VolumeⅠ－Release2 ， VolumeⅡ－Release2 Vendor name NSD Corporation （230） Generic Device （0） Device profile name Product name VS-212DN （2120） Network current consumption 75mA or less Connector type...

  • Page 18: Absocoder Sensor

    2.6 ABSOCODER Sensor (1) Multi-turn type ABSOCODER sensor: o Multi-turn type MRE Item Specifications MRE-□ Model 32SP062 G64SP062 G128SP062 G160SP062 G256SP062 G320SP062 Number of turns Divisions/Turn 4096 2048 1024 819.2 409.6 Mass (kg) Moment of inertia (kg・m 6.7×10 3.9×10 Starting torque (N・m) 4.9×10 or less Radial...

  • Page 19: Devicenet

    It is also possible to use DeviceNet devices available from PLC manufacturers, etc., to enable reading and writing in the VS-212DN buffer memory. Contact NSD if a file (EDS file) is required which defines the control data used by the DeviceNet devices.

  • Page 20: Control Panel Display

    3.2 Control Panel Display VS-212DN is equipped with 2 LED lamps (MS and NS) which serve as DeviceNet status indicators. The "MS" indicator shows the module status, and the "NS" indicator shows the network status. MS Indicator LED Status VS-212DN Status Description No power No power is being supplied.

  • Page 21: Interface

    3.3 Interface I/O data is used for data updates with the PLC master unit. Reading and writing of the VS-212DN control data (buffer memory) is also possible in addition to the usual command and status updates (I/O bits). (Writing requires that certain conditions be satisfied.) Unless otherwise indicated in this manual, IN/OUT expressions are used as viewed from the PLC.

  • Page 22: In Data Format (Produced Connection)

    3.3.2 IN Data Format (Produced Connection) IN data occupies 8 bits. The status and data are determined by the command and data bit content. Address Reply Status 0 Status 1 Status 2 / I/O Address (LSB) Status 3 / I/O Address (MSB) Status 4 / Data 0 (LSB) Status 5 / Data 1 Status 6 / Data 2...

  • Page 23: Error Codes

    3.3.3 Error Codes When an error occurs during data reading/writing, the corresponding error code (see below) is written to address 7. Error code Description Wrong write/read attribute. (Writing was attempted at read-only data.) I/O address error (undefined address was specified) I/O OUT data update processing error I/O IN data update processing error WRITE data update processing error...

  • Page 24: Status Bits

    3.4.2 Status Bits (1) Upper Limit Over-travel (Status 0/1: 0bit) When online, this bit switches on if the current position violates the upper limit specified by the parameter settings. VS-212DN operation and outputs are not affected when this bit switches on. This bit can be turned off by returning the current position to within the lower limit/upper limit range, and performing an error reset (command 1: 6bit).

  • Page 25: Buffer Memory List

    3.5 Buffer Memory List Reading and writing of internal VS-212DN data (buffer memory) is possible using the DeviceNet. Data format: Parameter No. when BYTE: 8bit specifying setting from the WORD: 16bit external setting unit Address is specified when USINT: 8bit integer without (VS-T62 or VS-T62B).
  • Page 26 (2) Current position value detection for axis 1 Data Initial Parameter Write Name Data range Description Address format value -99999~ 16384 Current position value (scaling binary) DINT 999999 16385 Current position value (sensor binary) UDINT 0~131071 -32768~ 16386 Speed output DINT 32767 Current position in hold status...
  • Page 27 (3) Current position value detection for axis 2 Data Initial Parameter Write Name Data range Description Address format value -99999~ 16448 Current position value (scaling binary) DINT 999999 16449 Current position value (sensor binary) UDINT 0~131071 -32768~ 16450 Speed output DINT 32767 Current position in hold status...
  • Page 28 (4) Positioning control for axis 1 Data Initial Parameter Write Name Data range Description Address format value -99999~ 12288 Target stop position setting data DINT 999999 12289 Forward stop zone after learning UDINT 0~999999 12290 Reverse stop zone after learning UDINT 0~999999 Positioning at low-speed...
  • Page 29 (5) Positioning control for axis 2 Data Initial Parameter Write Name Data range Description Address format value -99999~ 12352 Target stop position setting data DINT 999999 12353 Forward stop zone after learning UDINT 0~999999 12354 Reverse stop zone after learning UDINT 0~999999 Positioning at low-speed...
  • Page 30 (6) Limit switch control for axis 1 Data Initial Parameter Write Name Data range Description Address format value 4096 Limit switch output status WORD 4097 Program No. answerback USINT 0～8 4098 Limit switch output disabled setting WORD 4099 Program No. setting USINT 0～8 4100...
  • Page 31 (8) Limit switch data for axis 1 The start addresses for each channel's limit switch data are obtained by the following formula. 1 axis I/O address = 8192 + 64 x CH. No. [Ex] CH.5 = 8192 + 64 x 5 = 8512 CH.0 data Data Initial...
  • Page 32 (9) Limit switch data for axis 2 The start addresses for each channel's limit switch data are obtained by the following formula. 2-axis I/O address = 9216 + 64 x CH. No. [Ex] CH.1 = 9216 + 64 x 1 = 9280 CH.0 data Data Initial...

  • Page 33: Manual Mode Input/Output Status Reading

    3.5.1 Manual Mode Input/Output Status Reading The following status are read. (1) Manual mode using the VS-T62 or VS-T62B The bit which corresponds to the selected manual mode (specified from the external setting unit VS-T62 or VS-T62B) is set to "1". If the external setting unit is not being used, "B0" becomes "1".

  • Page 34: Sequence Mode Answerback Reading

    3.5.5 Sequence Mode Answerback Reading This is the area where the sequence mode selected in the Sequence Mode Selection Area is stored. “1” is stored in the bit corresponding to the selected sequence mode. “0” is stored in other bits. “0”...

  • Page 35: Speed Output Reading

    3.5.8 Speed Output Reading The speed is detected by the ABSOCODER sensor is stored either as binary value of the change amount in position within the specified time or as rotation speed (r/min.) The desired form is selected by 'speed gate time'. o Speed gate time: This is the time interval for detecting the sensor's travel speed.

  • Page 36: Hold Current Position Reading

    3.5.9 Hold Current Position Reading The current position is read when current position preset input 1 or 2 (external input) is turned ON. The 'current position preset' function is active, the current position before preset is stored. Below are operation examples when 'current position preset' signal turned ON. Current position hold Current position preset Current position preset...

  • Page 37: Target Stop Position Writing

    3.5.12 Target Stop Position Writing This function writes the target position which is required for positioning operations. Although target positions can be written by the sequence program at all times, that data is only enabled when an online positioning start occurs. (1) Data is written in a scaling binary format.

  • Page 38: Low-Speed Zone Writing

    3.5.17 Low-Speed Zone Writing This setting specifies the low-speed zone for positioning operations. Although this setting can be written by the sequence program at any time, it is enabled only when the positioning pattern data buffer memory selection's (I/O address 12292 [12356]) 1-bit is set to "1". This setting value changes to the parameter value at power ON, and when parameter settings are made.

  • Page 39: Program No. Answerback Reading

    3.5.21 Program No. Answerback Reading The 'answerback program No.' for the program No. designated for use at the limit switch output function is read. Program numbers are given as a binary value (0-8). 3.5.22 Limit Switch “Output Disabled” Setting (Writing) The settings made determine (for each channel) whether or not limit switch output is to occur.

  • Page 40: Function List

    4. Function List As shown below, the VS-212DN functions are divided into 2 groups consisting of 'main functions' and 'auxiliary functions'. The main functions are used by the VS-212DN for actual system control, and the auxiliary functions are used to support the main function operations. Function Description Current position...

  • Page 41: Current Position Detection Function

    4-1. Current Position Detection Function The VS-212DN's current position detection function detects the current position using an ABSOCODER. Conventionally, this was detected using an incremental format encoder in conjunction with a counter unit. The above conventional method has several disadvantages; the units must be converted when displaying the current position value, origin-point return is necessary when power supply is interrupted due to power failure, etc.

  • Page 42: Positioning Function

    4-2. Positioning Function All positioning data such as the target stop positions and speed switching positions, etc., are pre-designated at the VS-212DN. The ABSOCODER sensor then detects the machine's travel amount, with the appropriate speed switching or STOP signals being output when the machine's position matches the pre-designated positions.

  • Page 43: Limit Switch Output Function

    4-3. Limit Switch Output Function The VS-212DN limit switch output function differ from that of other systems in that the limit switch position data is pre-designated at the VS-212DN, without the need for limit switches. The ABSOCODER sensor detects the machine's travel amount and ON/OFF signal outputs occur when the machine's position matches pre-designated positions.

  • Page 44: Nomenclature

    4-4. Nomenclature 4-5. Explanation of Displays 4-5-1. System LEDs (1) READY LED This LED is lit when the following conditions are satisfied: o RUM mode o There is no error (2) ERROR 1 This LED is lit when an error occurs in the axis 1. (3) ERROR 2 This LED is lit when an error occurs in the axis 2.

  • Page 45: Monitor Display

    4.5.3 Monitor Display The content of the monitor display changes in accordance with the setting of the monitor display selector switch (DISP.SEL). Regardless of the monitor display selector switch (DISP.SEL) setting, an error code will be displayed at area [2] in BCD if an error occurs. (The error code for the most recent error displays.)

  • Page 46: Explanation Of I/O

    4.6 Explanation of I/O 4.6.1 Terminal Block I/O (1) READY output This output switches ON when the following conditions are satisfied (same as READY LED): o RUN mode o There is no error. (2) STOP 1 / 2 (B-contact) The STOP input signals stop positioning operations. When positioning operations are executed, these signals should be ON.

  • Page 47: Operations

    5. Operations 5.1 Operating Sequence (Flowchart) An operation flowchart is shown below.

  • Page 48: Changing Saved Data

    5.2 Changing Saved Data The VS-212DN handles the following 2 types of data. (1) Data which is saved internally in the VS-212DN. - Initial settings data - Parameter data - Limit switch data (Program Nos.1-8) (2) Data which is not saved at the VS-212DN. - Buffer memory data (limit switch data) In order to operate the VS-212DN the (1) data items shown above must be written to memory.

  • Page 49: Connecting External Wiring

    5.3 Connecting External Wiring The wiring precautions for connections between the VS-212DN and external devices, and details regarding wiring connectors are explained in this section. 5.3.1 Wiring precautions The following wiring precautions should be observed when connecting the VS-212DN to external devices.

  • Page 50: Absocoder Sensor Installation Precautions

    5.4 ABSOCODER Sensor Installation Precautions This section explains precautions for ABSOCODER sensor installation. 5.4.1 Installation of MRE series ABSOCODER sensor Installation of the ABSOCODER sensor must be executed according to the dimensions shown in the drawings. Although the MRE sensor is more rugged than general optical encorders, care should be taken nevertheless to avoid shocks and unbalanced loads upon installation.

  • Page 51: Current Position Detection Function

    6. Current Position Detection Function The VS-212DN’s current position detection function detects the current position the ABSOCODER. Conventionally, this was detected by an incremental format encoder in conjunction with a counter unit. As shown below, the current position value appropriate for the rotation position of the ABSOCODER sensor is stored in the buffer memory while rotating the ABSOCODER sensor by the motor.

  • Page 52: Pre-Operation Setting Sequence

    6.1 Pre-Operation Setting Sequence...

  • Page 53: Initial Setting

    6.2 Initial Setting When setting the values in the sequence format, set “1” to the corresponding bit of the buffer memory (sequence mode selection). When writing the current position value, set “1” also to “write select” bit. The data written to the buffer memory for data communication with the PLC CPU is loaded to the VS-212DN when the PLC Ready signal is turned ON in sequence mode.

  • Page 54: Sensor Selection/Sensor Rotation Direction Setting

    6.3.1 Sensor selection/sensor rotation direction setting (I/O address: 16392 [16456]) The direction of rotation in which the position data value increases are designated as either “CW” or “CCW” (viewed from sensor shaft direction) and sensor type. (1) CW direction In this direction, the current position value increases. (2) CCW direction In this direction, the current position value increases.

  • Page 55: Scale Length And Minimum Current Position Value Setting

    6.3.3 Scale length and minimum current position value setting The detection range is determined by the scale length and the minimum current position value. Therefore, consider the relationship of these items. When either the scale length or the minimum current position value is set, be sure to set the parameters that affect the distance again. (1) SCALE LENGTH (I/O address: 16394 [16458]) This refers to the maximum distance over which the ABSOCODER sensor can execute absolute detection.

  • Page 56: Current Position Value Setting

    6.3.4 Current position value setting (I/O address: 16396 [16460]) This section explains how to set the current position value. the “current position value” setting consist of designating a numeric value which corresponds to a given machine position. For example、if the machine is moved to its 100 mm position (or any desired position), the “current position”...

  • Page 57: Parameter Settings

    (b) Scaling binary current position value: With this format, the scaling binary value (indicating the machine's current position) is converted into the appropriate unit (inch/mm) value. The 'minimum current position value' is then added, with the result being expressed as a scaling binary value: Scaling binary value = Scale length/131072×sensor binary value+ minimum current position value Example: With position detection executed by a 32-turn MRE sensor with a scale length of 32000, minimum...

  • Page 58: Parameter Setting List

    6.5 Parameter Setting List Data Initial Parameter Name Data range Description Address format value Designates the permissible amount of 16397 Permissible current position current position change which can occur UDINT 999999 0~999999 (16461) change amount every 20ms. If this amount is exceeded, an error will occur.

  • Page 59: Current Position Preset Value Setting

    6.5.3 Current position preset value setting (I/O addresses: 16399 to 16403 [16463 to16467]) The current position preset value is used when changing the machine current position to the preset value by the current position preset input. This function is used when a misalignment occurs between the detected position and the actual machine position, as shown below.
  • Page 60 (6) For the parameter format, the VS-212DN automatically identifies the direction by referring to the current position every 100 ms inside the VS-212DN. However, when an MRE series sensor is used, the following reverse direction speed will be interpreted as a forward direction operation. (7) The following conditions must be satisfied in order for the current position preset function to be operative: a) The current position preset function must be designated as “enabled”...
  • Page 61 (14) Current position preset input response time This is the response time after the current position preset input turned ON until the VS-212DN presets the current position. The response time of the current position preset varies depending on the setting of the current position preset function. a) Parameter format: 1, Buffer memory format: 2 (max.

  • Page 62: Speed Gate Time And Speed Sampling Time

    6.5.4 Speed gate time and speed sampling time (I/O addresses: 1604, 1605 [16468, 16469]) The speed is detected by the ABSOCODER sensor is stored either as binary value of the change amount in position within the specified time or as rotation speed (r/min.) The desired form is selected by 'speed gate time' and ‘speed sampling time’..

  • Page 63: Sequence Program Sample

    6.6 Sequence Program Sample A sample sequence program is shown below. A sequence is indicated by an "SLC500" Rockwell Automation (Allen Bradley). 6.6.1 Initial Settings The initial setting data must be changed in advance, using the DeviceNet Manager. (If the data is to be changed by the sequence data, a separate data change sequence is required.) o VS-212DN PLC Ready: I:2/0 o Initial settings writing command: I:2/1...
  • Page 64 6-14...

  • Page 65: Parameter Settings

    6.6.2 Parameter Settings The parameter setting data must be changed in advance, using the DeviceNet Manager. (If the data is to be changed by the sequence data, a separate data change sequence is required.) o VS-212DN PLC Ready: I:2/0 o Parameter settings writing command: I:2/1 o Sequence mode answer-back storage register: B3:1 o VS-212DN beginning address: O:1.1, I:1.1 6-15...
  • Page 66 6-16...

  • Page 67: Program For Current Position Monitor Display

    6.6.3 Program for current position monitor display A program example for the current position monitor display is given below. o VS-212DN PLC Ready: I:2/0 o Current position value (scaling binary) storage register: B3:1,2,3 o Current position output: O: 4/0 to 15 o Symbol output: O: 5/0 o The current position detect display is executed every 200 μms.

  • Page 68: Program For Error Code Readout And Reset

    6.6.4 Program for error code readout and reset A program example for the error code readout and error reset operation which is used when a VS-212DN ‘error detection’ occurs is given below. o Error code output: O: 4/0 to 15 o Error monitor output: O:5/0 o Sensor monitor output: O: 5/1 o VS-212DN ‘online’...

  • Page 69: Positioning Function

    7. Positioning Function The positioning function consists of an operation in which the ABSOCODER sensor detects the machine’s current position value and compares that value with the pre-designated speed-change data, and target position data, etc., and then outputs the appropriate motor control signals in order to move the machine to the designated the target STOP position.
  • Page 70 (1) The positioning operation is controlled by the following 8 output signals: These four outputs (a to d) are called ‘operation output’) a. FWD (forward/low-speed for ‘speed stepping format’) b. RVS (reverse/low-speed for ‘speed stepping format’) c. High-speed d. Low-speed (medium-speed for ‘speed stepping format’) e.

  • Page 71: Explanation Of Positioning Functions

    7.1 Explanation of positioning functions 7.1.1 Unidirectional positioning A unidirectional format is used for VS-212DN positioning. To execute positioning from the opposite direction, the target stop position must be overshoot first, with positioning then occurring from the prescribed direction after making a U-turn. The unidirectional positioning format reduces positioning errors caused by gear backlash, etc.

  • Page 72: Positioning Speed Switching Format

    7.1.2 Positioning speed switching format In the ‘speed switching’ format, the ‘high-speed’ and ‘low-speed’ speed switching signals operate independently, with the high-speed signal being ON during high-speed operation, and the low-speed signal being ON during low-speed operation. The parameter settings which designate the low-speed zone, stop zone, and In-position zone are made in advance at the VS-212DN.

  • Page 73: Positioning Speed Stepping Format

    7.1.3 Positioning speed stepping format In the ‘speed stepping’ format, the high-speed zone, medium-speed zone, and low-speed zone signals do not operate independently. Instead, they are combined to produce a stepped speed switching output. The parameter settings which designate the medium-speed zone, low-speed zone, stop zone, and In-position zone are made in advance at the VS-212DN.

  • Page 74: Control Timing

    7.1.4 Control timing The following charts show the ON/OFF timing for each of the positioning control signals. (1) The ‘operation output’ item shown above consists of the following outputs: Speed switching format FWD, RVS, High-speed, Low-speed Speed stepping format FWD Low-speed, RVS Low-speed, High-speed, Medium-speed (2) ‘t1’...
  • Page 75 (3) ‘t2’ indicates the ‘stop detection’ time required before a U-turn can occur after overshooting. After the VS-212DN has turned the operation output OFF and the brake ON (simultaneous operation), a ‘stop’ status is recognized when the amount of current position change per 100 ms is plus/minus 2 bits (as a sensor binary value).

  • Page 76: Starting Operation From Stop Zone

    7.1.5 Starting operation from stop zone The procedure for starting the positioning function from inside the stop zone is explained below. When the stop zone is entered, the motor control signals for the positioning operation are turned OFF, and the brake is applied. Though, in the course of normal operations, it is impossible to begin a positioning operation from inside a stop zone, the VS-212DN can perform this operation when necessary.

  • Page 77: Simple Learning Function

    7.1.6 Simple learning function If a positional discrepancy occurs between the target position and the current position upon completion of positioning, the discrepancy will be automatically corrected when the next positioning is carried out. At this time, either the FWD stop zone or RVS stop zone is corrected depending on the positioning direction.

  • Page 78: Jog Operation

    7.1.7 JOG operation The JOG operation can be executed only in the RUN mode with an ‘online’ status established. The following requirements must be satisfied before the JOG operation can occur. (a) The ‘operation error’ (status 6/7: 7 bit) signal must be OFF. (b) Positioning must not be progress.
  • Page 79 (2) The timing chart for the ‘RVS JOG’ operation is shown below. (3) If the JOG signal is ON when the ‘JOG low-speed timer’ period (‘t’ at item (1) and (2) timing charts above) has elapsed, an automatic low-speed to high-speed switch will occur. The ‘JOG low-speed timer’...

  • Page 80: Operation When Detection Range Is Exceeded

    7.1.8 Operation when detection range is exceeded The VS-212DN executes absolute position detection within the detection range. However, if this detection range is exceeded, the current position value will immediately change by the amount of the entire scale length. The following diagram shows the relationship between MRE sensor rotation and the current position value.
  • Page 81 (2) The following example shows a case in which the overshoot point is designated near the minimum current position value point, resulting in an ‘overshoot stop’ position which is outside the detection range. The target position of -9300 becomes -9800 when overshoot occurs, due to an overshoot amount of 500.

  • Page 82: Current Position Presetting During Positioning Operation

    7.1.9 Current position presetting during positioning operation The ‘current position preset’ function is operative even when positioning is in progress. The resulting operation is explained below. (1) When the positioning direction is not changed as a result of the preset function: The positioning operation is not interrupted.

  • Page 83: Operation Error

    7.1.10 Operation error If any of the following 3 errors are detected during a JOG or positioning operation, operation will automatically be stopped (operation output OFF). Following this, the ‘operation error’ signal output will be turned ON. (a) Sensor error (error code 22) (b) Motion detection error (error code 42) (c) Motion direction error (error code 43) VS-212DN operation will continue when any error other than the above is identified.

  • Page 84: Positioning Function And Operation Sequence

    7.2 Positioning Function and Operation Sequence The procedure for executing the VS-212DN’s positioning function is as below. 7-16...

  • Page 85: Initial Settings

    7.3 Initial Settings Refer to section 6.2 and 6.3 for the VS-212DN’s initial settings. The initial setting are commonly used for the current position detection function, limit switch output function, and positioning function. 7.4 Parameter Settings This section explains the parameter settings for the VS-212DN’s positioning function. When writing the parameters, set ‘1’...

  • Page 86: Parameter List

    7.5 Parameter List Data Initial Parameter Name Data range Description Address format value Speed switching format: w/o learning function Speed stepping format: w/o learning function 12298 Positioning format USINT (12362) Speed switching format with learning function Speed stepping format with learning function 0 (Forward) 12299 Designates whether positioning is to be executed...

  • Page 87: Designation Of Positioning Direction

    7.5.2 Designation of positioning direction (I/O address: 12299 [12363]) The positioning direction (for unidirectional positioning) is designated as FWD (forward) or RVS (reverse). The positioning direction is designated by the parameter setting as follows: 0: FWD (forward) direction 1: RVS (reverse) direction 7.5.3 Designation of overshoot amount (I/O address: 12300 [12364]) The ‘overshoot amount’...

  • Page 88: Timer Settings

    7.5.7 Timer settings (I/O address: 12308 to 12311 [12372, 12375]) The procedure for designating the ‘motion non-detection timer’, ‘motion misdirection non-detection timer’, ‘positioning END detection timer’, and ‘JOG low-speed timer’ settings is explained below. (1) The ‘motion non-detection timer’ setting designates the period from the point when the positioning or JOG operation is started, until the point when the motion error detection function begins.

  • Page 89: Sequence Program Sample

    7.6 Sequence Program Sample A sample sequence program is shown below. A sequence is indicated by an "SLC500" Rockwell Automation (Allen Bradley). 7.6.1 Initial settings and parameter settings Refer to section 6.6 for the initial settings and parameter settings. 7.6.2 Program for positioning function The following example shows a program used to designate the positioning target position and to start the positioning function Conditions...
  • Page 90 7-22...

  • Page 91: Program For Jog Operation

    7.6.3 Program for JOG operation The following signal assignments are used to control the vS-212DN: o VS-212DN’s PLC Ready (I:2/0) o Forward JOG command (I:2/2) o Reverse JOG command (I: 2/3) 7-23...

  • Page 92: Limit Switch Output Function

    8. Limit Switch Output Function With this function, the machine’s travel amount is detected by the absolute value of the ABSOCODER sensor, and external ON/OFF signal outputs are used in place of conventional limit switches. As shown below, the ON/OFF positions can be designated at any of the points where the ABSOCODER sensor’s detection occurs.
  • Page 93 (5) The minimum permissible width of ON and OFF zones is according to the position detection spacing of the ABSOCODER sensor being used. Position data sampling occurs every 2 ms at the VS-212DN. The detected position is then compared with the designated ON/OFF settings, with limit switch output being executed accordingly.

  • Page 94: Pre-Operation Setting Sequence

    8.1 Pre-Operation Setting Sequence This section explains the setting sequence for the limit switch function.

  • Page 95: Initial Settings

    8.2 Initial Settings Refer to section 6.2 and 6.3 for the VS-212DN’s initial settings. The initial setting are commonly used for the current position detection function, limit switch output function, and positioning function. 8.3 Parameter Settings This section explains the parameter settings for the VS-212DN’s limit switch output. When writing the parameters, set ‘1’...

  • Page 96: Parameter List

    8.4 Parameter List Data Initial Data Parameter Name Description Address format value range Designate the number pf protected channels where 4100 Protected switch USINT 0～16 setting changes cannot be made, even if in the (4164) PRGM mode. In test mode: All output OFF In other modes: All output OFF In test mode: Output HOLD Channel output status...

  • Page 97: Limit Switch Data Setting

    8.5 Limit Switch Data setting The VS-212DN limit switch output data settings are explained below. Limit switch output is set to program Nos. 0 to 8. Data setting sequence differs for program No.0. (1) Program No. 0 The contents of program No. 0 are not retained when power failure has occurred and when the PLC has been reset.
  • Page 98 (b) ‘OFF area’ [limit switch ‘open (b) contact’ operation] dog position writing: The numerical pairs used to write the ON position data are larger than those used to write the OFF position data. If the numerical values for each dog are not written in order, beginning from the lowest and proceeding to the highest, error ‘31’...

  • Page 99: Data Setting For Program No

    8.5.2 Data setting for program No. 0 The program No. 0 data settings are explained below. The contents of program No. 0 are not retained when power failure has occurred and when the PLC has been reset. Setting the limit switch output data to program No. 0 is carried out in RUN mode. Set ‘0’...

  • Page 100: Writing Program Nos

    8.5.3 Writing program Nos. 1 - 8 Writing to program Nos. 1-8 is explained below. The contents of program Nos. 1-8 are retained even when power failure has occurred and when the PLC has been reset. Setting the limit switch output data to program Nos. 1-8 is carried out in PRGM mode. Setting sequence is as below.

  • Page 101: Sequence Program Sample

    8.6 Sequence Program Sample A sample sequence program is shown below. A sequence is indicated by an "SLC500" Rockwell Automation (Allen Bradley). 8.6.1 Initial settings and parameter settings Refer to section 6.6 for the initial settings and parameter settings. 8.6.2 Program for limit switch output function The following example shows a program used to start the limit switch output function at one of the 3 registered programs (1-3), when the program settings have been designated in advance at the VS-212DN.
  • Page 102 8-11...

  • Page 103: Program For Limit Switch Output Function (Program No. 0)

    8.6.3 Program for limit switch output function (Program No. 0) The following example shows a program used to start the limit switch output function by the desired setting data which is stored at the PLC CPU’s file resister, and writing that data to the program No. 0 area.
  • Page 104 8-13...
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  • Page 106 8-15...
  • Page 107 Limit switch data arrangement CH.0 CH.0 CH.0 CH.0 CH.0 CH.0 CH.0 CH.0 CH.0 CH.0 B10：0 Nunber of Dog 0 Dog 0 Dog1 Dog1 Dog2 Dog2 Dog3 Dog3 Dog4 multi-dogs ON position OFF position ON position OFF position ON position OFF position ON position OFF position ON position...

  • Page 108: Writing Program To Program Nos

    8.6.4 Writing program to program Nos. 1- 8 This section provides an example of the program to write the desired setting data to the program No. 0 area and, then transmit that data to the VS-212DN’s program No. 1. Conditions The following signal assignments are used to control the VS-212DN: o VS-212DN’s PLC Ready (I: 2/0) o Program No.
  • Page 109 8-18...
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  • Page 112: Reading Program From Program Nos. 1-8

    8.6.5 Reading program from program Nos. 1- 8 This section provides an example of the program to read the setting data from the VS-212DN’s program No. 1 area to the PLC CPU file register. Conditions The following signal assignments are used to control the VS-212DN: o VS-212DN’s PLC Ready (I: 2/0) o Program read command (I: 2/1) 8-21...
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  • Page 116: Troubleshooting

    9. TROUBLESHOOTING VS-212DN operation errors and troubleshooting procedures are described in this section. 9-1. Error Code List When an error occurs at the VS-212DN, the corresponding error code is saved in the buffer memory (I/O address: 2 [3]) and at the monitor display. At this time, the error detection (status address 0 and 1: 5 bits) signal switches on, and the READY output switches off (READY LED goes off).
  • Page 117 Error When Error Type Description Countermeasure code Detected - Check the ABSOCODER sensor' s speed. VS-212DN detected an 'excessive current position change' condition. - Revise the 'permissible current position The causes are as follows: change amount' parameter setting. - ABSOCODER MRE sensor rotation speed is too fast. - Replace the ABSOCODER sensor, and - Incorrect 'permissible current position change amount' parameter Detection...
  • Page 118 Error When Error Type Description Countermeasure code Detected - Check the 'operation output' connections. VS-212DN detected a 'motion error' (no motion) during an 'operation - Check the motor control unit. output' ON. - Revise the 'motion non-detection timer' setting. - During positioning. - Check the 'operation output' - During online connections.
  • Page 119 Error When Error Type Description Countermeasure code Detected Upper limit value area Lower limit value area Start from stop zone area Motion non-detection timer 'Motion misdirection non-detection timer' area Activated when Positioning end detection timer area incorrect data is JOG low-speed timer area written to the buffer No.
  • Page 120 (1) Each time an error occurs, the previous error code stored in the buffer memory will be deleted, and replaced by the new error code. (2) The error code stored in the buffer memory will not be cleared (returned to '0') simply by correcting the cause of the error.

  • Page 121: Dimensions

    10. DIMENSIONS 10.1 VS-212DN Units: mm 10-1...

  • Page 122: External Setting Unit Vs-T62 And Cable Vs-C1S62-2

    10.2 External setting unit VS-T62 and cable VS-C1S62-2 ● External setting unit (VS-T62) Units: mm ● Cable for external setting unit (VS-C1S62-2) Units: mm 10-2...

  • Page 123: External Setting Unit Vs-T62B And Cable Vs-C62B-2

    10.3 External setting unit VS-T62B and cable VS-C62B-2 ● External setting unit (VS-T62B) Units: mm ● Cable for external setting unit (VS-C62B-2) Units: mm 10-3...

  • Page 124: Absocoder Sensor

    10.4 ABSOCODER sensor Units: mm 10-4...
  • Page 125 Units: mm 10-5...

  • Page 126: Extension Cable

    10.5 Extension Cable (1) 4P-S-0102-[L]／4P-RBT-0102-[L] Units: mm 10-6...

  • Page 127: Ce Marking

    11. CE MARKING VARILIMIT “VS-212DN” conforms to EMC directive. 11.1 EMC Directives It is necessary to do CE marking in the customer’s responsibility in the state of a final product. Confirm EMC compliance of the machine and the entire device by customer because EMC changes configuration of the control panel, wiring, and layout.
  • Page 135 Reference 2 Attribute Lists 1. Application Attributes All setting data related to VS-212DN application functions are defined as attributes. Each attribute is accessed using Explicit Messaging. Both the "Get Attribute Single" and "Set Attribute Single" services can be used. Moreover, data defined as an I/O Message can also be accessed using an Explicit Message.
  • Page 136 ④ Class 102 (0x66) VARILIMIT DATA Class Instance 1 (0x01) Axis 1 CH.0 to Instance 32 (0x20) Axis 2 CH.15 Attribute ID Device (Hex) Attribute Access Data Default Value Net I/O Name Rule Type Value Range Address Class (Dec) 0x64 Number of multi-dogs Get/Set USINT...
  • Page 137 （Instance 17..Axis 2 CH.0） Attribute ID Device (Hex) Attribute Access Data Default Value Net I/O Name Rule Type Value Range Address Class (Dec) 0x64 Number of multi-dogs Get/Set USINT 0～10 9216 0x65 Dog No. 0 ON position setting data Get/Set DINT -99999～999999 9217...
  • Page 138 ⑤ Class 103 (0x67) VARILIMIT CONTROL Class Instance 1 (0x01) Axis 1 Device Attribute ID Attribute Access Data Default Value Net I/O (Hex) Name Rule Type Value Range Address Class (Dec) 0x64 Axis 1 START Get/Set BOOL 0x65 Axis 1 STOP Get/Set BOOL 0x66...
  • Page 139 ⑥ Class 103 (0x67) VARILIMIT CONTROL Class Instance 2 (0x02) Axis 2 Device Attribute ID Attribute Access Data Default Value Net I/O (Hex) Name Rule Type Value Range Address Class (Dec) 0x64 Axis 2 START Get/Set BOOL 0x65 Axis 2 STOP Get/Set BOOL 0x66...
  • Page 140 ⑦ Class 104 (0x68)b ABSO POSITION SENSOR ClassInstance 1 (0x01) Axis 1 Device Attribute ID Attribute Access Data Default Value Net I/O (Hex) Name Rule Type Value Range Address Class (Dec) 0x64 Current position preset command Get/Set BOOL 0x65 Sensor error detection output BOOL Excessive correction amount 0x66...
  • Page 141 ⑧ Class 104 (0x68) ABSO POSITION SENSOR Class Instance 2 (0x02) Axis 2 Device Attribute ID Attribute Access Data Default Value Net I/O (Hex) Name Rule Type Value Range Address Class (Dec) 0x64 Current position preset command Get/Set BOOL 0x65 Sensor error detection output BOOL Excessive correction amount...
  • Page 142 Table 2-1 Identity Object （Class ID 0x01） Name Description Get/Set TYPE Value Code Class Attribute No support Class Service No support Vendor ID UINT １ （NSD Corp.） 0x00 Device Type UINT (Generic) Product Code UINT 2120 1～127,1～255 Instance Attribute STRUC Revision （1.001） Status...
  • Page 143 Table 2-3 Connection Object #1 (Class ID 0x05,Instance ID 0x01:Explicit Messaging Connection） Name Description Get/Set TYPE Value Code Class Attribute No support Class Service No support Instance Attribute State USINT 0～5 １ Instance type USINT Transport Class trigger BYTE 0x83 Production Connection ID UINT Consumed Connection ID...
  • Page 144 Manufacturer NSD Corporation 3-31-28, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Distributor NSD Trading Corporation 3-31-23, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Phone: +81-52-261-2352 Facsimile: +81-52-252-0522 URL: www.nsdcorp.com E-mail: foreign@nsdcorp.com Copyright©2019 NSD Corporation All rights reserved.

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