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FATEK M Series User Manual
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FATEK M Series User Manual

FATEK M Series User Manual

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M-Series PLC Motion User Manual
The contents of the manual will be revised as the version changes, and this version
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FATEK AUTOMATION CORP.
M-Series PLC Motion User Manual

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Summary of Contents for FATEK M Series

  • Page 1 The contents of the manual will be revised as the version changes, and this version may not be the final version. Please go to www.fatek.com technical support area to download the latest version of the manual. FATEK AUTOMATION CORP. M-Series PLC Motion User Manual...

  • Page 2: Table Of Contents

    INDEX ..錯誤! 尚未定義書籤。 Chapter 1 Summary of M-PLC Motion Control Unit Motion Unit Function Diagram ..................1-3 Axis Control Function and Reference ................1-4 Axis Control Function and Reference ................1-5 Action before M-PLC Positioning Control ................1-8 錯 Chapter 2 Motion Parameters and Status (Special Register and Relay) 誤! 尚未定義書籤。...
  • Page 3 Fun189 Write Motion Control Recipe ................1-6 6-14 Fun191 Read Motion Control Cam .................1-7 6-15 Fun192 Write Motion Control Cam .................1-8 6-16 Fun193 EtherCAT Hand Wheel (ME_GEAR_IN) ............1-9 6-17 Fun194 Velocity Control (ME_VEL_CTL) ..............1-10 6-18 Fun195 Torque Control (ME_TOR_CTL) ..............1-12 6-19 Fun197 單軸定位...
  • Page 4 Introduction of Motion Parameter Mapping Table ............1-8 Using Method of Motion Parameter Mapping Table ......錯誤! 尚未定義書籤。 Precautions for Use ...................... 1-10 ..........錯誤! 尚未定義書籤。 Chapter 10 HOME Return Mode 100: Forward-Falling Trigger ............ 錯誤! 尚未定義書籤。 10-1 Mode 101: Backward-Falling Trigger ..........錯誤! 尚未定義書籤。 10-2 Mode 102: Z Signal-Forward-Rising Trigger ........
  • Page 5 ....錯誤! 尚未定義書籤。 Chapter 14 Velocity Control and Torque Control 14-1 Velocity control .......................1-2 14-2 Torque Control .......................1-6 Chapter 15 Synchronous Control, Flying Cut (Synchronization Function ......錯誤! 尚未定義書籤。 Parameter Table/Electronic Cam Setting) 15-1 What is Synchronous Control? ..................1-2 15-2 Synchronous Parameter Setting Group ................1-3 15-3 Introduction of Synchronous Parameter ................1-4...
  • Page 6 The user needs to check if the system, machinery or device currently used is compatible with the FATEK product. If the user fails to confirm the compatibility or the suitability, then FATEK shall not be liable for the suitability of the product.
  • Page 7 Errors and negligence The content of this Manual is provided through careful checking process and is considered as correct. However, FATEK shall not be liable for the errors or the negligence that may be found in the text, printing content and proofreading.
  • Page 8 Chapter 1 Summary of M-PLC Motion Control Unit Amendment Record Version Date Content Page Editor VX.X.XX 2021/11/18 Version 1 M-Series PLC Motion User Manual...

  • Page 9: Chapter 1 Summary Of M-Plc Motion Control Unit

    Chapter 1 Summary of M-PLC Motion Control Unit Summary of M-PLC Motion Control Unit Motion Unit Function Diagram ..................1-3 Axis Control Function and Reference ................1-4 Axis Control Function and Reference ................1-5 M-Series PLC Motion User Manual...

  • Page 10: Motion Unit Function Diagram

    Motion Flow. *The 32-Axis EtherCAT Motion Control is still being planned, please refer to FATEK official website for related information and manual. 1-1 Motion Unit Function Diagram The M-PLC Motion Control Unit can issue the motion command to the servodriver while providing the axis control related functions such as position control, speed control and synchronizing control.

  • Page 11: Axis Control Function And Reference

    Chapter 1 Summary of M-PLC Motion Control Unit 1-2 Axis Control Function and Reference Provided below are the axis motion control functions and the references Axis motion control function Reference HOME Return HOME Return Position Control Position Control and Interpolation Speed Control Velocity Control Torque Control...

  • Page 12: Axis Control Function And Reference

    Chapter 1 Summary of M-PLC Motion Control Unit 1-3 Axis Control Function and Reference Described below are the unit hardware interfacing port between M-PLC units and the indicator status, as per the M-PLC Unit indicated below. The left-hand side port is provided for connecting to the power module and communication module, and the right-hand side port is designed for connecting to the AIO, DIO and temperature module, etc.
  • Page 13 Chapter 1 Summary of M-PLC Motion Control Unit Indicated below is the M-PLC Power Module: The M-PLC also provides the extension function of expanding the right-hand side module. It allows the user to apply such function to other equipment for expanding the AIO/DIO/temperature modules, as per the figure below: M-Series PLC Motion User Manual...
  • Page 14 Chapter 1 Summary of M-PLC Motion Control Unit Described below are the M-PLC status indicators: M-Series PLC Motion User Manual...

  • Page 15: Action Before M-Plc Positioning Control

    Chapter 1 Summary of M-PLC Motion Control Unit 1-4 Action before M-PLC Position Control Before executing the position control with the M-PLC, the user is required to execute the following basic start-up steps: Step Action Remark Installation/Wiring Wiring installation of M-PLC, SC3 EtherCAT servo and external devices.

  • Page 16: Chapter 2 Motion Parameters And Status (Special Register And Relay)

    Chapter 2 Motion Parameters and Status (Special Register and Relay) Motion Parameters and Status (Special Register and Relay) Motion Flow_Special Relay & Register ................1-3 Motion Control_Special Relay & Register ...............1-4 M-Series PLC Motion User Manual...
  • Page 17 Chapter 2 Motion Parameters and Status (Special Register and Relay) This section will introduce the layout of memory in the M-PLC and the details of the register. The scope of Motion Registers starts from R36880 for using as the starting register, and the scope of Relays starts from M10512.

  • Page 18: Motion Flow_Special Relay & Register

    Chapter 2 Motion Parameters and Status (Special Register and Relay) 2-1 Motion Flow_Special Relay & Register ※Described below are the current axis number of N. ※Please refer to Chapter 17 – Motion Flow Alarm for the description of error codes of each register and relay.

  • Page 19: Motion Control_Special Relay & Register

    Chapter 2 Motion Parameters and Status (Special Register and Relay) 2-2 Motion Control_Special Relay & Register When setting the bit for motion control special register, each axis will be added with 40 bits. For example, if the HOME sensor of Axis-1 is M10605, then the HOME sensor of Axis-2 will become M10645, and so on.
  • Page 20 Chapter 2 Motion Parameters and Status (Special Register and Relay) Register No. Definition Description Low: Off M10618 Reset Axis Probe 2 function Rising Trigger High: On 軸探針 2 功能開 M10619 Low: Off 軸探針 2 功能重置 M10620 Rising Trigger High: On 軸同步參數立即生效請求...
  • Page 21 Chapter 2 Motion Parameters and Status (Special Register and Relay) Register No. Definition Description High: Status ON 軸負向軟體極限狀態 M11258 Low: Status OFF High: Status ON 軸原點極限狀態 M11259 Low: Status OFF High: Status ON 軸正向極限狀態 M11260 Low: Status OFF High: Status ON 軸負向極限狀態...
  • Page 22 Chapter 2 Motion Parameters and Status (Special Register and Relay) Register No. Definition Description 軸位置偏差監控 顯示軸的位置偏差 DR37025 顯示軸驅動器回授的數位輸入 數 DR37027 Axis Driver Digital Input 值 Displays the motion flow number R37029 Current Axis Motion Flow No. of the current control axis 軸同步接點...

  • Page 23: Chapter 3 Ethercat Function And Configuration

    Chapter 3 EtherCAT function and configuration EtherCAT Function and Configuration Chapter 1 EtherCAT function and configuration M-Series PLC Motion User Manual...
  • Page 24 Chapter 3 EtherCAT function and configuration This section describes the EtherCAT related function and configuration. EtherCAT is an industrial Ethernet technology developed by Beckhoff Automation in Germany. The connection type is a network system with one master station and multiple slave stations. It is also a configuration tool based on EtherCAT Slave Information (ESI).
  • Page 25 Chapter 3 EtherCAT function and configuration Provided below are the parameters and the unit required for the cyclic synchronous position, speed and torque control modes. Target under Cyclic Synchronous Position Control Mode: Index Name Unit Type Access PDO Mapping 603Fh Error Code TxPDO 6040h Control Word RxPDO...

  • Page 26: Chapter 4 Axis Parameters And Setting

    Chapter 4 Axis Parameters and Setting Axis Parameters and Setting Motion Network Setting ....................1-2 Motion Axis Parameter Setting ..................1-3 M-Series PLC Motion User Manual...

  • Page 27: Motion Network Setting

    This section describes the parameter setting and the axis connection setting related information that will be required for connecting M-PLC to EtherCAT Servo. The user will be allowed to set the axis connection and axis parameter setting through FATEK program editing software UperLogic. 4-1 Motion Network Setting To run the UperLogic editing software, it is required to click open the motion connecting setting page on the left-hand side window.

  • Page 28: Motion Axis Parameter Setting

    Chapter 4 Axis Parameters and Setting 4-2 Motion Axis Parameter Setting After completing the motion axis connection, the user may set up the parameters for each axis through UperLogic. Described below is the detailed parameter setting. Indicated below is the UperLogic axis parameter setup page. M-Series PLC Motion User Manual...
  • Page 29 Chapter 4 Axis Parameters and Setting Basic Setting: Axis name: To change the axis name, set up the “Device Name” on motion link. By changing the axis name, the user will be allowed to differentiate the application of each axis. Encoder type: Incremental (the location information will disappear once the power is turned off), Absolute (the location information is kept, so it can continue to operate without HOME return after the power is restored)
  • Page 30 Chapter 4 Axis Parameters and Setting Unit Setting: Unit: Comprising 4 kinds of units and they are PLS, mm, deg and inch. Decimal point: It allows the user to set up smaller units during the setup process (mm/deg/inch) for up to 3 places after the decimal point. Pulse/Revolution: The pulse number of the motor during each revolution of operation.
  • Page 31 Chapter 4 Axis Parameters and Setting Max. Torque Limit (+): The torque limit required for restricting forward running at the PLC end, and it shall be carried to the first place after the decimal point. Max. Torque Limit (-): The torque limit required for restricting backward running at the PLC end, and it shall be carried to the first place after the decimal point.
  • Page 32 Chapter 4 Axis Parameters and Setting Return searching speed: Set up the speed required for searching the HOME (can be faster than the set value). Return crawl speed: Set up the crawling speed required for entering the scope of HOME (to be set at slower speed).

  • Page 33: Chapter 5 Point Table And Point Parameter

    Chapter 5 Point Table and Point Parameters Point Table and Point Parameter Motion Point Setting Interface ..................1-2 Point Preview Picture .....................1-7 M-Series PLC Motion User Manual...

  • Page 34: Motion Point Setting Interface

    Chapter 8: Motion Parameter Mapping Table. 5-1 Motion Point Setting Interface The setup interface required for setting the motion point is provided by the FATEK project editing software UperLogic, as per below: Corresponding upper limit is created for the capacity of the motion point when using the selected PLC.
  • Page 35 Chapter 5 Point Table and Point Parameters Introduction of Point Data Setting: Point Number: The number of the point that will be executed for the Ladder or the process. Operation mode: Master Axis: The axis to be operated. If multi-axis interpolation is selected as the axis mode, then UI will display the following: Interpolation Axis 2: The Interpolated Axis 2 to be operated.
  • Page 36 Chapter 5 Point Table and Point Parameters Interpolation Axis 2: The target position of Interpolation Axis 2, which is determined according to the mode selected. Interpolation Axis 3: The target position of Interpolation Axis 3, which is determined according to the mode selected.
  • Page 37 Chapter 5 Point Table and Point Parameters Continue Point: Set “End” or “Continue Point” (select the point data to be executed on the point table). Continue Mode: Standby: The “ms” duration that should be paused before moving to the next point after completing the operation at the current point.
  • Page 38 Chapter 5 Point Table and Point Parameters M-Series PLC Motion User Manual...

  • Page 39: Point Preview Picture

    Chapter 5 Point Table and Point Parameters 5-2 Point Preview Picture In Point Preview Picture, you may preview the track and the speed relating to the travel that will be set for the point parameter. Example: Move Absolute Position 1000 to 3000. In Point Preview Picture, you may preview the track and the speed relating to the travel that will be set for 2D.
  • Page 40 Chapter 5 Point Table and Point Parameters You may use the auxiliary picture to check the speed change of the axis. M-Series PLC Motion User Manual...

  • Page 41: Chapter 6 Ladder Motion Commands

    Chapter 6 Ladder Motion Commands Ladder Motion Commands Fun187 System Initialization (ME_SYSINIT)..............1-3 Fun176 Start Motion Flow (ME_START) ................1-5 Fun177 Motion System Emergency Stop (ME_SYSSTOP) ..........1-6 Fun182 Pause Motion Flow (ME_PAUSE) ..............1-7 Fun184 Halt Motion Flow (ME_HALT) ................1-8 Fun183 Resume Motion Flow (ME_RESUME) ...............1-9 Fun179 Position Control (ME_POS) ................
  • Page 42 Chapter 6 Ladder Motion Commands To execute Motion Control, the M-PLC Controller realizes the user motion sequence control by using motion flow with point table. When moving at the respective axis point, the JOG or the HOME. M- PLC also provides the ladder motion related block commands to the user. The M-PLC Motion Control can be achieved through the following three methods: 1.

  • Page 43: Fun187 System Initialization (Me_Sysinit)

    Chapter 6 Ladder Motion Commands 6-1 Fun187 System Initialization (ME_SYSINIT) Fun187 Fun187 System Initialization ME_SYSINIT ME_SYSINIT Command Description Ladder Symbol No Operand 187P. ME_SYSINT Execution Control ACT Acting ERR Error DN Done Relay and Register R34768 R35024 R35280 R43224 V, Z ∣...
  • Page 44 Chapter 6 Ladder Motion Commands When the execution control “EN” = 1, the motion control function initialization action will ⚫ be executed. ⚫ If there is no response during execution, please confirm whether the motion link setting is consistent with the actual link. After initialization, the servo needs to be turned on to continue subsequent operations, 如所...
  • Page 45 Chapter 6 Ladder Motion Commands 6-2 Fun176 Start Motion Flow (ME_START) Fun176 Fun176 Start Motion Flow ME_START ME_START Command Description Ladder Symbol Operand ID: Motion Flow ID 176P. ME_START Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...

  • Page 46: Fun177 Motion System Emergency Stop (Me_Sysstop)

    Chapter 6 Ladder Motion Commands Fun177 Motion System Emergency Stop (ME_SYSSTOP) Fun177 Fun177 Motion System Emergency Stop ME_SYSSTOP ME_SYSSTOP Command Description Ladder Symbol No Opearand 177P. ME_SYSSTOP Execution Control ACT Acting ERR Error DN Done Function Description ⚫ Stop the entire Motion Flow and stop the EtherCAT communication. To start the flow again, run the ME_INIT again in order to trigger the EtherCAT communication.

  • Page 47: Fun182 Pause Motion Flow (Me_Pause)

    Chapter 6 Ladder Motion Commands 6-4 Fun182 Pause Motion Flow (ME_PAUSE) Fun182 Fun182 Pause Motion Flow ME_PAUSE ME_PAUSE Command Description Ladder Symbol Operand ID: Motion Flow ID 182P. ME_PAUSE Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register Type R34768...
  • Page 48 Chapter 6 Ladder Motion Commands 6-5 Fun184 Halt Motion Flow (ME_HALT) Fun184 Fun184 Halt Motion Flow ME_HALT ME_HALT Command Description Ladder Symbol Operand ID: Motion Flow ID 184P. ME_HALT Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...

  • Page 49: Fun183 Resume Motion Flow (Me_Resume)

    Chapter 6 Ladder Motion Commands 6-6 Fun183 Resume Motion Flow (ME_RESUME) Fun183 Fun183 Resume Motion Flow ME_RESUME ME_RESUME Command Description Ladder Symbol Operand ID: Motion Flow ID 183P. ME_RESUME Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...

  • Page 50: Fun179 Position Control (Me_Pos)

    Chapter 6 Ladder Motion Commands 6-7 Fun179 Position Control (ME_POS) Fun179 Fun179 Position Control ME_POS ME_POS Command Description Ladder Symbol Operand PT : Point number of the executing 179P. ME_POS Execution Control position control point table ACT Acting ████ ID : AX : Master axis of the executing position control AX :...
  • Page 51 Chapter 6 Ladder Motion Commands Program Example Ladder When the execution control “EN” = 1, the axis specified by AX will execute the point table ⚫ with the number specified by PT. When the execution control “EN” = 0, the motion will stop immediately. ⚫...

  • Page 52: Fun180 Jog Control (Me_Jog)

    Chapter 6 Ladder Motion Commands 6-8 Fun180 JOG Control (ME_JOG) Fun180 Fun180 JOG Control ME_JOG ME_JOG Command Description Ladder Symbol Operand AX : Axis to execute JOG control 180P. ME_JOG Execution Control MD : Execution mode ACT Acting ████ AX : ████...
  • Page 53 Chapter 6 Ladder Motion Commands Function Description Specify a motion axis to execute JOG function according to JOG parameters and setting modes. ⚫ EN = 1 : Trigger JOG control ⚫ D/R = 1 Forward / = 0 Backward ⚫ ACT = 1 : JOG is acting ⚫...

  • Page 54: Fun178 Home Return (Me_Home)

    Chapter 6 Ladder Motion Commands 6-9 Fun178 HOME Return (ME_HOME) Fun178 Fun178 HOME Return ME_HOME ME_HOME Command Description Ladder Symbol Operand AX : Axis to execute HOME Return 178P. ME_HOME Execution Control ACT Acting ████ AX : ERR Error DN Done Relay and Register Type R34768...
  • Page 55 Chapter 6 Ladder Motion Commands Fun178 Fun178 HOME Return ME_HOME ME_HOME Specify a motion axis to execute HOME Return. ⚫ EN = 1 : Trigger HOME Return ⚫ ACT = 1 : HOME Return is acting ⚫ ERR = 1 : HOME Return error ⚫...

  • Page 56: Fun185 Reset Motion Error Alarm (Me_Rstalm)

    Chapter 6 Ladder Motion Commands 6-10 Fun185 Reset Motion Error Alarm (ME_RSTALM) Fun185 Fun185 Reset Motion Error Alarm ME_RSTALM ME_RSTALM Command Description Ladder Symbol Operand 185P. ME_RSTALM Execution Control ACT Acting ERR Error DN Done Function Description Clears all motion flow and driver error alarms. However, the communication alarm of the driver cannot be cleared by this command and needs to be powered on again.
  • Page 57 Chapter 6 Ladder Motion Commands 6-11 Fun186 Stop Motion Flow (ME_STOP) Fun186 Fun186 Stop Motion Flow ME_STOP ME_STOP Command Description Ladder Symbol Operand ID: Motion Flow ID 186P. ME_STOP Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...

  • Page 58: Fun181 Change Motion Control Parameter

    Chapter 6 Ladder Motion Commands 6-12 Fun181 Change Motion Control Parameter Fun181 Fun181 Change Motion Control Parameter ME_CHGPRM ME_CHGPRM Command Description Ladder Symbol Operand TM: Table Number PN: Point Number S: Item Number PV: Written Value Relay and Register Function Description ⚫...
  • Page 59 Chapter 6 Ladder Motion Commands Program Example Ladder ⚫ When M1000 OFF→ON, change the point table parameters (TM: 0 point table, PN: 1 point table 1, S: 2 master axis coordinates, PV: change to 1000.000mm), and change the master axis movement distance of point table 1 to 1000.000mm.
  • Page 60 Chapter 6 Ladder Motion Commands Fun181 Parameter Table PV Type Operantion Mode 16Bit UINT Acceleration Curve Type 16Bit UINT Master Axis Coordinates 32Bit INT Interpolation Axis 1 Coordinates 32Bit INT Interpolation Axis 2 Coordinates 32Bit INT Interpolation Axis 3 Coordinates 32Bit INT Speed 32Bit UINT Accelearation...
  • Page 61 Chapter 6 Ladder Motion Commands HOME Return Direction 16Bit UINT HOME Return Movement 32Bit INT Home Return Speed 32Bit UINT HOME Return Crawl Speed 32Bit UINT JOG Initial Speed 32Bit UINT JOG Speed 32Bit UINT JOG Acceleration 32Bit UINT JOG Deceleration 32Bit UINT JOG Distannce 32Bit UINT...
  • Page 62 Chapter 6 Ladder Motion Commands 輔助離合器關滑動時間 32Bit UINT Reserve Reserve 步進角補償基準速度 32Bit UINT 步進角補償基準值 32Bit INT 步進角補償變化模式 16Bit UINT 步進角補償變化時間 32Bit UINT Eletronic Cam Number 16Bit UINT 同步接點編號 16Bit UINT Filter Pulse Time 32Bit UINT Input Axis Cyclic 32Bit UINT 同步主軸相位預設值...

  • Page 63: Fun188 Read Motion Control Recipe

    Chapter 6 Ladder Motion Commands 6-13 Fun188 Read Motion Control Recipe Fun188 Fun188 Read Motion Control Recipe ME_RCPR ME_RCPR Command Description Ladder Symbol Operand Md: Mode D: Initial register of Recipe Gp: Read the column of the recipe table Relay and Register Function Description 1-23 M-Series PLC Motion User Manual...
  • Page 64 Chapter 6 Ladder Motion Commands ⚫ [Fun188 Recipe Read] and [Fun189 Recipe Write] are used to read or write a large number of motion control parameters. If you only need to modify a single or a few parameters, you can use [Fun181 Change Motion Control Parameters] or [Fun198 Mapping Table] .
  • Page 65 Chapter 6 Ladder Motion Commands Recipe Axis Table 1-25 M-Series PLC Motion User Manual...
  • Page 66 Chapter 6 Ladder Motion Commands Recipe Synchronous Table 1-26 M-Series PLC Motion User Manual...
  • Page 67 Chapter 6 Ladder Motion Commands 1-27 M-Series PLC Motion User Manual...
  • Page 68 Chapter 6 Ladder Motion Commands Program Example Ladder ⚫ When M1000 is from OFF→ON, read all recipe tables and store them in R1000. ⚫ Read the parameters of PLC point table 1 and store them in R1000-R1049 ⚫ Read the parameters of the PLC axis table (axis 1) and store them in R1050-R1119 ⚫...

  • Page 69: Fun189 Write Motion Control Recipe

    Chapter 6 Ladder Motion Commands 6-14 Fun189 Write Motion Control Recipe Fun189 Fun189 Write Motion Control Recipe ME_RCPW ME_RCPW Command Description Ladder Symbol Operands Md: Mode D: Initial Recipe Register Gp: Write to the column of the recipe table Relay and Register Function Description 1-29 M-Series PLC Motion User Manual...
  • Page 70 Chapter 6 Ladder Motion Commands ⚫ [Fun188 Read Recipe] and [Fun189 Write Recipe] are used to read or write a large number of motion control parameters. If you only need to modify a single or a few parameters, you can use [Fun181 Change Motion Control Parameters] or [Fun198 Mapping Table].
  • Page 71 Chapter 6 Ladder Motion Commands Recipe Axis Table 1-31 M-Series PLC Motion User Manual...
  • Page 72 Chapter 6 Ladder Motion Commands Recipe Synchronous Table 1-32 M-Series PLC Motion User Manual...
  • Page 73 Chapter 6 Ladder Motion Commands Program Example 1-33 M-Series PLC Motion User Manual...
  • Page 74 Chapter 6 Ladder Motion Commands Ladder When M1000 is from OFF to ON, write all recipe tables from R1000. ⚫ 1-34 M-Series PLC Motion User Manual...

  • Page 75: Fun191 Read Motion Control Cam

    Chapter 6 Ladder Motion Commands 6-15 Fun191 Read Motion Control Cam Fun191 Fun191 Read Motion Control Cam ME_CAMR ME_CAMR Command Description Ladder Symbol Operands Md: Mode D: Initial Cam Register ID: Cam Number L: Cam Resolution Relay and Register Function Description ⚫...
  • Page 76 Chapter 6 Ladder Motion Commands Program Example Ladder Datagram When M1000 is from OFF→ON, 讀取凸輪 ID:1 資料表 2048 個存放至 DR1000~DR5094。 ⚫ 1-36 M-Series PLC Motion User Manual...

  • Page 77: Fun192 Write Motion Control Cam

    Chapter 6 Ladder Motion Commands 6-16 Fun192 Write Motion Control Cam Fun192 Fun192 Write Motion Control Cam ME_CAMW ME_CAMW 指令說明 Ladder Symbol Operands Md: Mode D: C Initial am Address ID: Cam Number L: Cam Resolution Relay and Register Function Description ⚫...
  • Page 78 Chapter 6 Ladder Motion Commands Program Example Ladder Datagram When M1000 is from OFF to ON, 從 DR1000~DR5094 寫入凸輪 ID:1 資料表 2048 個。 ⚫ 1-38 M-Series PLC Motion User Manual...

  • Page 79: Fun193 Ethercat Handwheel (Me_Gear_In)

    Chapter 6 Ladder Motion Commands 6-17 Fun193 EtherCAT Handwheel (ME_GAER_IN) Fun193 Fun193 EtherCAT Handwheel ME_GEAR_IN ME_GEAR_IN Command Description Ladder Symbol Operands M : Master Axis Input Source S: Slave Axis Output Target N: Variable Gear Ratio Numerator D: Variable Gear Ratio Denominator T: Transition Time (ms) Relay and Register Function Description...
  • Page 80 Chapter 6 Ladder Motion Commands ⚫ When the handwheel is under synchronous control, the output indication [ACT] is ON. ⚫ During the synchronous control of the manual wheel, if an error occurs, the output indication [ERR] will be ON. ⚫ When the update of the manual wheel parameters is completed, the output indication [UPD] will be ON.

  • Page 81: Fun194 Velocity Control (Me_Vel_Ctl)

    Chapter 6 Ladder Motion Commands 6-18 Fun194 Velocity Control (ME_VEL_CTL) Fun194 Fun194 Velocity Control Mode ME_VEL_CTL ME_VEL_CTL Command Description Ladder Symbol Operands S: EtherCAT Velocity Control Axis V: Velocity MX: Max. Torque Limit Relay and Register Function Description ⚫ Operands S (Speed Control Axis): EtherCAT_ Axis Number 1-16 V (Velocity): Setting velocity value, unit: Pulses/s MX (Maximum Torque Limit): The maximum torque limit when the speed cannot reach the...
  • Page 82 Chapter 6 Ladder Motion Commands Program Example Ladder ⚫ When M1000 is from OFF→ON, start the speed control according to the current Fun194 parameters (S: EtherCAT Axis 1, V: 131072 pulses per second, MX: No torque limit). Ladder ⚫ After changing the parameter (V: 262144 pulses per second), when M1005 changes from OFF to ON, the parameter update is completed according to the changed parameter update speed, and the output indicator M1004 [UPD] ON is turned on, and the speed doubles.

  • Page 83: Fun195 Torque Control (Me_Tor_Ctl)

    Chapter 6 Ladder Motion Commands 6-19 Fun195 Torque Control (ME_TOR_CTL) Fun195 Fun195 Torque Control Mode ME_TOR_CTL ME_TOR_CTL Command Description Ladder Symbol Operands S: EtherCAT Torque Control Axis T: Set Torque MX: Max. Speed Limit Relay and Register Function Description ⚫ Operands S (Torque Control Axis): EtherCAT_ Axis Number 1-16 T (Torque): Torque setting value, unit: 0.0%...
  • Page 84 Chapter 6 Ladder Motion Commands Ladder ⚫ When M1000 is from OFF to ON, torque control is started according to the current Fun194 parameters (S: EtherCAT Axis 1, T: 5.0%, MX: No speed limit). Ladder ⚫ After changing the parameter (T : 10.0%), when M1005 is turned from OFF to ON, the torque will be updated according to the changed parameter.

  • Page 85: Fun197 單軸定位 (Me_Axi_Mov)

    Chapter 6 Ladder Motion Commands 6-20 Fun197 單軸定位 (ME_AXI_MOV) Fun197 Fun197 【軸移動】 ME_AXI_MOV ME_AXI_MOV Command Description Ladder Symbol Operands S: EtherCAT Control Axis 197P. ME_AXI_MOV Execution Control MD: Opearating Mode ACT Acting ████ PS: Target Position V: Velocity ████ MD : ERR Error Update Parameter A: Acceleration...
  • Page 86 Chapter 6 Ladder Motion Commands ([Axis Unit]: mm, [Decimal Point Position]: 0.001, PS: DR0 = 1000 is equal to 1.000mm) V (Velocity): Positive number (a real number greater than zero), including the [Decimal Point Position] of the [Motion Axis Setting] in [Motion Control]. A (Acceleration): Positive number (a real number greater than zero), including the [Decimal Point Position] of the [Motion Axis Setting] in [Motion Control].

  • Page 87: Fun196 Generate Cam (Me_Cam_Gen)

    Chapter 6 Ladder Motion Commands 6-21 Fun196 Generate Cam (ME_CAM_GEN) Fun196 Fun196 Generate Cam ME_CAM_GEN ME_CAM_GEN Command Description Ladder Symbol Operands ID: Cam No. Md: Cam Generating Mode D: Register Starting Address L: Cam Curve Stage No. Relay and Register Function Description ⚫...
  • Page 88 Chapter 6 Ladder Motion Commands Program Example Ladder CAM Parameters ⚫ When M1000 is from OFF to ON, the Cam is generated according to the current Fun196 number (ID: Cam number 1, Md: Mode 0, D: Setting the cam generation parameters from R1000, L: second stage cam curve).

  • Page 89: Fun198 Set Mapping Table (Me_Set_Map)

    Chapter 6 Ladder Motion Commands 6-22 Fun198 Set Mapping Table (ME_SET_MAP) Fun198 Fun198 Set Mapping Table ME_SET_MAP ME_SET_MAP Command Description Ladder Symbol Operands Gp: Mapping Table Group No. N: Mapping Starting Table No. L: Consecutive Mapping Length Relay and Register Function Description ⚫...
  • Page 90 Chapter 6 Ladder Motion Commands Program Example Ladder Mapping Table Motion Axis Setting Table ⚫ When M1000 is turned from OFF to ON, write the mapping table according to the current Fun198 parameters (Gp 1: mapping table 1(1:PM), N: starting from the first line of the mapping table (1:PM1), L: length 1).
  • Page 91 Chapter 7 Introduction of Motion Flow Introduction of Motion Flow Using Motion Flow ......................1-3 Start Motion Flow ......................1-3 Select Branch .........................1-4 Parallel Branch .......................1-5 Merge ..........................1-5 Origin Return ........................1-6 Positioning ........................1-7 Speed Control ........................1-8 Torque Control ......................1-10 7-10 Standby ........................1-11 7-11 Subroutine ........................
  • Page 92 Chapter 7 Introduction of Motion Flow This section describes the motion control method specially designed for FATEK M-PLC and it is named as Motion Flow Control here. Such function is able to display, monitor and design the motion control flow in a more complete manner. Further, it can achieve the designed logic control and continuous motion control more effectively.
  • Page 93 Chapter 7 Introduction of Motion Flow 7-1 Using Motion Flow 1. Initialize EtherCAT communication 2. Enable the motor To enable the motor, the following A/B/C methods can be used: A. Enable all axes (M10520). B. Enable specific axis (M10600+(40*n-1), n=1-16 axes) C.
  • Page 94 Chapter 7 Introduction of Motion Flow 7-2 Start Motion Flow Indicated in the figure below is the Motion Flow starting block where “001” refers to the flow block ID. Such ID is designated by the system and it cannot be changed by the user. 7-3 Select Branch By selecting the branch, you can execute the designated branch according to the conditions;...
  • Page 95 Chapter 7 Introduction of Motion Flow 7-4 Parallel Branch The parallel branch can execute an individual branch. When running the parallel branch, it is not required to set up the conditions and you may access the block to execute all of the following branches directly.
  • Page 96 Chapter 7 Introduction of Motion Flow 7-6 Origin Return The function block is required for executing the Origin Return of the designated axis. As per the figure below, reset the Origin for Axis_1. If the Origin is duly set, the axis will jump to next flow as soon as M300=1 jumping condition is established.
  • Page 97 Chapter 7 Introduction of Motion Flow 7-7 Positioning Select the parameters of the designed point for executing positioning control, as per the following: Flow Block ID: The ID will be assigned by the system automatically, but it can be changed by the user as desired.
  • Page 98 Example: When setting at SC3 for one turn =131072 = 1000mm Assume that you want to set as per turn per second and that the unit of FATEK SERVO speed control is expressed as Pulse, therefore you have the following result: 131072 = Running for 131072 pulses per second.
  • Page 99 Chapter 7 Introduction of Motion Flow M-Series PLC Motion User Manual...

  • Page 100: Torque Control

    Chapter 7 Introduction of Motion Flow 7-9 Torque Control For executing the torque control of the designated axis, per the following: Flow Block ID: The ID will be assigned by the system automatically, but it can be changed by the user as desired.

  • Page 101: Standby

    Chapter 7 Introduction of Motion Flow 7-10 Standby With “Standby”, you may set the delay time and wait for triggering conditions for the Motion Flow. Waiting time: Standby waiting time (unit: ms) Switch Condition: The condition required for jumping to the next flow block. The system will execute the jumping condition after counting the waiting time.

  • Page 102: Subroutine

    Chapter 7 Introduction of Motion Flow 7-11 Subroutine Execute the intended sub-flow, per the following: Sub Flow: The target sub-flow Switch Condition: The condition required for jumping to the next flow block. When jumping to the sub-flow for the first time, the sub-flow will jump back to the flow block where the original sub-flow exists and then it will jump to the next flow block in the main flow during the second jumping.

  • Page 103: Goto

    Chapter 7 Introduction of Motion Flow 7-12 GoTo With jumping function block, you may jump to the flow block before or after the same flow block, but you cannot jump to another flow. Flow Block: For setting the jumping to the designated flow block ID. Condition: The condition required for jumping to the designated flow block.

  • Page 104: Sync

    Chapter 7 Introduction of Motion Flow 7-13 Sync For setting the axis that will be run synchronously. Flow Block ID: The ID will be assigned by the system automatically, but it can be changed by the user as desired. Axis: The axis being designated for executing the synchronous running. Mode: It comprises enable and disenable Switch Condition: The condition required for jumping to the next flow block.

  • Page 105: Calculate

    Chapter 7 Introduction of Motion Flow 7-14 Calculate Calculate 【Calculate】 【Calculate】 (Perform simple digital logic calculation) Command Description Motion Flow Symbol Displyed Info Block UID: The system automatically generates the flow block UID number. Calculate Setting Block UID: The flow block number automatically generated by the system and can be replaced with an unused number.
  • Page 106 Chapter 7 Introduction of Motion Flow Relay and Register Function Description ⚫ Only support internal motion relays and registers (MB/MW/ME/MD) ⚫ Supported calculation: V=V(+,-,*,/,%)V V=V(+,-,*,/,%)C IF COND( ==, > , >=, < ,<=, != )…ELSE…ENDIF ⚫ Limit 9 rows of operation Program Exmaple V=V(+,-,*,/,%)V , V=V(+,-,*,/,%)C {MW0 = MW1 }...
  • Page 107 Chapter 7 Introduction of Motion Flow {IF MW0 == 0 MW1 = 5 ELSE MW1 = 10 ENDIF} If MW0 is equal to 0, write 5 to MW1, if MW0 is not equal to 0, write 10 to MW1. 1-17 M-Series PLC Motion User Manual...

  • Page 108: End

    Chapter 7 Introduction of Motion Flow 7-15 End 【END】 【END】 (The flow block that ends the flow) Command Description Motion Flow Symbol Displayed Info Block UID: The system automatically generates the flow block UID number. End Setting Block UID: The flow block number automatically generated by the system and can be replaced with an unused number.
  • Page 109 Chapter 8 Positioning control and interpolation Position Control and Interpolation Using M-PLC Position Control Flow ................1-2 Using Ladder Position Control ..................1-3 Using Motion Flow Positioning ..................1-6 Description of Multi-axis Interpolation ................1-17 Linear Interpolation ....................... 1-20 Arc Interpolation ......................1-23 Spiral interpolation ......................

  • Page 110: Using M-Plc Position Control Flow

    Chapter 8 Positioning control and interpolation This section describes the positioning control and the interpolation functions. When using the positioning and the motion control functions, you may use the action type of each axis as the reference for setting the desired point parameters such as action mode, target coordinates, acceleration/deceleration or other settings like the number of next point as well as the continuing mode and the transfer conditions, etc.

  • Page 111: Using Ladder Position Control

    Chapter 8 Positioning control and interpolation 8-2 Using Ladder Position Control 8-2-1 HOME Return (ME_HOME) FUN 178 FUN 178 HOME Return (ME_HOME) ME_HOME ME_HOME Command Description AX ： Axis No. to execute HOME Retur EN ： = 1, indicates that a HOME Return is to be performed ACT ：...
  • Page 112 Chapter 8 Positioning control and interpolation FUN178P FUN178P HOME Return (ME_HOME) ME_HOME ME_HOME Program Example If users want to make the homing of the axis in Dog Forward mode, and the homing IO source signal is controlled by PLC, it will decelerate to a homing crawling speed of 250 mm/s when encountering the Dog signal, and stop until it leaves the Dog signal , set in axis 1 of “Motion Axis Setting”, as shown in the figure below.
  • Page 113 Chapter 8 Positioning control and interpolation FUN178P FUN178P HOME Return (ME_HOME) ME_HOME ME_HOME Program Example The program and action description are shown in the figure below: ⚫ When M 20 is turned ON by the upper edge trigger, it will move forward at the return search speed of 500 mm/s.
  • Page 114 Chapter 8 Positioning control and interpolation 8-2-2 Position Control (ME_POS) Fun179P Fun179P Position Control (ME_POS) ME_POS ME_POS Command Description PT：Command No. of Motion Point Table AX ：Motion control axis No. ACT：Acting ERR：Error DN：Done -32768 R34768 R35024 R35280 R43224 ∣ ∣ ∣...
  • Page 115 Chapter 8 Positioning control and interpolation Fun179P Fun179P Position Control (ME_POS) ME_POS ME_POS Program Eample 1. Trigger M230 to perform position control 2. When the position control action is completed, use M11248 to clear M230 *Use M204 to prevent other Fun179 triggers from causing errors M-Series PLC Motion User Manual...
  • Page 116 Chapter 8 Positioning control and interpolation 8-2-3 JOG (ME_JOG) Fun 180 Fun 180 JOG (ME_JOG) ME_JOG ME_JOG Command Description AX ：Indicates the axis to perform JOG MD ： There are 4 modes in total, mode 0- mode 3, for detailed information, please refer to the instructions in the motion control manual.
  • Page 117 Chapter 8 Positioning control and interpolation Fun180 Fun180 JOG (ME_JOG) ME_JOG ME_JOG Program Example If users want to move the axis by 2000 mm, accelerate to 500 mm/s with JOG acceleration 250 mm/s , and decelerate with JOG deceleration 400 mm/s , set axis 1 in “Motion Axis Setting”, As shown below: Edit the program in Ladder as shown below:...
  • Page 118 Chapter 8 Positioning control and interpolation Fun180 Fun180 JOG (ME_JOG) ME_JOG ME_JOG Program Example The program and action description are shown in the figure below: ⚫ When M30 is ON and M31 is ON, because the mode is set to 3, it will advance at the JOG start speed, but because the JOG start speed is set to 0 mm/s, the speed will start at 0 mm/s, and the JOG acceleration will be accelerated at 250 mm/s , accelerate to JOG speed...
  • Page 119 Chapter 8 Positioning control and interpolation 8-2-4 Axis Movement (ME_AXI_MV) FUN197 FUN197 Axis Movement ME_AXI_MV ME_AXI_MV Command Description S： Axis No. Md ： Mode 0：Abbsolute 1：Relative Ｐs：Coordinates, unit: 0.01 V： Velocity A： Acceleration D： Deceleration SA ： Accelerated S Curve SD ：...
  • Page 120 Chapter 8 Positioning control and interpolation FUN 197 FUN 197 Axis Movement ME_AXI_MV ME_AXI_MV Function Decription ⚫ This command is for axis movement. ⚫ For details of this command, please refer to the instructions in the motion control manual. Program Example Program example is shown below: 1-12...
  • Page 121 Chapter 8 Positioning control and interpolation FUN 197 FUN 197 Axis Movement ME_AXI_MV ME_AXI_MV In accordance with the register location of the command plan, fill in the parameters in the following table: This program example will initialize the motion control system 3 seconds after the first execution, and will enable all axes (Servo on) after 3 seconds, and then fill in the parameters in order, and then turn M56 on to execute the position according to The set acceleration and deceleration etc.

  • Page 122: Using Motion Flow Positioning

    Chapter 8 Positioning control and interpolation 8-3 Using Motion Flow Positioning The M-PLC positioning can be controlled with the following two methods, Ladder and Motion Flow. To control with Motion Flow method, you need to select positioning control Block from the PLC program. When using Motion Flow to execute the positioning control, you need to select the parameter from the point table.
  • Page 123 Chapter 8 Positioning control and interpolation c. After changing the speed for the current point, the composite speed or the Master Axis speed will not be changed when using the point parameter of the next point. The system will change the speed when setting the speed of the subsequent point parameter at “-1”.
  • Page 124 Chapter 8 Positioning control and interpolation Acceleration: The acceleration required for increasing the initial speed to the desired speed. Deceleration: The deceleration required for reducing the initial speed to the desired speed. Acceleration type: T-curve/ S-curve S-acceleration curve percentage scope: 1%–100% S-deceleration curve percentage scope: 1%–100% Where, 0% means pure T-curve and 100% refers to pure S-curve (without uniform acceleration/deceleration field)

  • Page 125: Description Of Multi-Axis Interpolation

    Chapter 8 Positioning control and interpolation 8-4 Description of Multi-axis Interpolation M-PLC positioning control is composed by Linear Interpolation, Arc Interpolation and Spiral Interpolation modes. The Linear Interpolation provides maximum 4-axis linear interpolation control. The Arc Interpolation provides maximum 2-axis arc interpolation control. The Spiral Interpolation provides maximum 3-axis spiral interpolation control.
  • Page 126 Chapter 8 Positioning control and interpolation Under Arc Interpolation Mode, it allows the system to execute single linear action on 2 axes. The Spiral Interpolation can run the arc interpolation and then coordinate with Axis-2 required for executing the linear motion so that the motion track will form the spiral shape. Described below is the type of coordinates system: Absolute coordinates: The target position moved by the designated axis, and it shall be set according to the HOME...
  • Page 127 Chapter 8 Positioning control and interpolation 1-19 M-Series PLC Motion User Manual...
  • Page 128 Chapter 8 Positioning control and interpolation 8-5 Linear Interpolation The Linear Interpolation provides maximum 4-axis interpolated motion and it comprises the following two action modes, “linear/position/absolute” and “linear/position/relative” modes. indicated below is the example of Linear Interpolation. A. 2-axis Linear Interpolation B.
  • Page 129 Chapter 8 Positioning control and interpolation Indicated below is the setting example for 2-axis Absolute Linear Interpolation: Axis_1 is selected as the Master Axis and the axis to be interpolated is Axis_2. The target position Axis_1 is set as 500mm and Axis_2 is set as 100mm.
  • Page 130 Chapter 8 Positioning control and interpolation The speed and the acceleration/deceleration are expressed as synthesis speed. The axis without being set with axis link cannot be selected as the interpolation axis. 1-22 M-Series PLC Motion User Manual...
  • Page 131 Chapter 8 Positioning control and interpolation 8-6 Arc Interpolation The Arc Interpolation provides maximum 2-axis arc interpolation control and it comprises the following two action modes, “Arc/Position/Absolute” and “Arc/Position/Relative” modes. Described below are the point parameters and setting relating to the arc interpolation running for which three arc appointing methods are provided, and these are through point, center and radius.
  • Page 132 Chapter 8 Positioning control and interpolation Arc interpolation related parameter setting: Opearation Mode: “Arc/Absolute” and “Arc/Relative” modes. Arc Mode: Radius, Center Point and Through Point modes. When designating radius for Arc Mode: The radius can be designated according to the target position of Master Axis and Interpolation Axis for running one round of arc interpolated motion.
  • Page 133 Chapter 8 Positioning control and interpolation Per the example indicated below: When setting the Arc Mode as the radius, the initial coordinates are set as (0,0), the target position of Axis_1 is set as coordinates 200mm and the target position of Axis_2 is set as coordinates 0mm. The speed is set as 100mm/s and the arc direction is as CW.
  • Page 134 Chapter 8 Positioning control and interpolation If the arc radius is wrongly set such that the arc cannot be run as intended, then the system will signal the error code before starting the designed motion. Through the point diagram preview function of UperLogic, the user will be allowed to preview the arc path, as below.
  • Page 135 Chapter 8 Positioning control and interpolation When setting the Arc Mode as the center, the initial coordinates are set as (0,0), the target position of Axis_1 is set as coordinate 1000mm and the target position of Axis_2 is set as coordinate 0mm. The speed is set as 100mm/s and the arc direction is as CW.
  • Page 136 Chapter 8 Positioning control and interpolation When setting the Arc Mode as the pass point, the initial coordinates are set as (0,0), the target position of Axis_1 is set as coordinate 0mm and the target position of Axis_2 is set as coordinate - 1000mm.
  • Page 137 Chapter 8 Positioning control and interpolation Continue Mode: Standby: The “ms” duration that should be paused before moving to next point after completing the operation at the current point. Continue next point speed: Moving to the next point after completing the acceleration or deceleration for such point.
  • Page 138 Chapter 8 Positioning control and interpolation 1-30 M-Series PLC Motion User Manual...
  • Page 139 Chapter 8 Positioning control and interpolation 8-7 Spiral Interpolation The arc interpolation can be executed on the spiral interpolation. It can be used to coordinate with Axis_3 required for running the linear motion so as to form a spiral shape of moving track. The spiral interpolation comprises the following two action modes, i.e.
  • Page 140 Chapter 8 Positioning control and interpolation Example: Master Axis is set as Axis_1. Arc interpolated axis is set as Axis_2. Linear interpolated axis is set as Axis_3, and synthesis speed is set as 100mm/s. Arc mode is set as center point, and Axis_1=500mm, Axis_2=0mm.
  • Page 141 Chapter 9 Motion Parameter Mapping Table Motion Parameter Mapping Table Introduction of Motion Parameter Mapping Table ............1-8 ....... 錯誤! 尚未定義書籤。 Motion Parameter Mapping Table Using Method Precautions for Use ...................... 1-10 M-Series PLC Motion User Manual...
  • Page 142 Chapter 9 Motion Parameter Mapping Table 9-1 Introduction of Motion Parameter Mapping Table The motion parameter mapping table allows users to dynamically modify motion control related parameters in the PLC Ladder program. Users can dynamically modify related motion parameters in the PLC Ladder program by specifying registers and corresponding to the parameter items to be modified through ME_SET_MAP.
  • Page 143 Chapter 9 Motion Parameter Mapping Table Motion Parameter Group Dynamically Modifiable Item Modified Item Position 跟蹤誤差容許範圍 跟蹤誤差容許時間 Positioning Completion Tolerance Positioning Completion Check Time Max. Motor Torque Max. Torque Limit (+) Max. Torque Limit (-) HOME Mode HOME Return Direction HOME Return Offset HOME Return Searching Speed HOME Return Crawling Speed...
  • Page 144 Chapter 9 Motion Parameter Mapping Table Motion Parameter Group Dynamically Modifiable Item Modified Item Position Main Clutch: Clutch ON Following Time Main Clutch: Clutch ON Following Offset Main clutch: Clutch OFF Setting Value Main Clutch: Clutch OFF Delay Main Clutch: Clutch OFF Offset Main Clutch: Clutch OFF Offset Time Auxiliary Clutch: Clutch ON Setting Value...
  • Page 145 Chapter 9 Motion Parameter Mapping Table Motion Parameter Group Dynamically Modifiable Item Modified Item Position Main Clutch Output Axis Phase Default Value Auxiliary Clutch Output Axis Phase Default Value Torque Limiting Clutch Input Axis Phase Default Value Cam Input Axis Phase Default Value Output Axis Reference...
  • Page 146 Chapter 9 Motion Parameter Mapping Table Motion Parameter Group Dynamically Modifiable Item Modified Item Position Positioning Block - Axis 1 Change 運動控制 → 運動流程 → 定位控制流 Value 程塊 → 更改行為 : 改變當前座標、 Positioning Block - Axis 2 Change 改變目標位置、中斷定長以及中斷 Value 定角...
  • Page 147 Chapter 9 Motion Parameter Mapping Table Uperlogic Motion Parameter Mapping Table is shown below: Mapping table operation bit usage timing: 1. When the FUN198 ME_SET_MAP mapping table writing command is triggered by the rising edge, it will write the value in the R register set by the PLC into the table corresponding to MOTION, and output the DN signal after the writing is completed.
  • Page 148 Chapter 9 Motion Parameter Mapping Table 9-2 Motion Parameter Mapping Table Using Method Provided below is the Motion Parameter Mapping Table using method; Action Remark Click “Add” in Motion Parameter Mapping Table. Select motion parameter group Point table/axis table/or synchronization table Select index When the Point Table index is the desired No.
  • Page 149 Chapter 9 Motion Parameter Mapping Table Designate address R The designated initial bit required for the operating bit shall be a multiple of “8”. Write the value to be changed in “R”. Bigger value will occupy 2 units of “R”. By turning on the operating bit, the PLC program will write the designated motion parameter in R.
  • Page 150 Chapter 9 Motion Parameter Mapping Table 9-3 Precautions for Use Description of instructions on using the Motion Parameter Mapping Table: 1. In the Motion Parameter Table, the operating bit and the address user needs to designate the first position only and the rest will be arranged by the system automatically. 2.
  • Page 151 Chapter 10 HOME return HOME Return Mode 100: Forward-Falling Trigger ............ 錯誤! 尚未定義書籤。 10-1 Mode 101: Backward-Falling Trigger ..........錯誤! 尚未定義書籤。 10-2 Mode 102: Z Signal-Forward-Rising Trigger ........錯誤! 尚未定義書籤。 10-3 Mode 103: Z Signal-Forward-Falling Trigger ........錯誤! 尚未定義書籤。 10-4 Mode 104: Forward-Rising Trigger ............
  • Page 152 Chapter 10 HOME return When using Relative Encoder as the displacement detector, normally the user needs to execute the return action for use as the reference of creating the positioning coordinate and such action is called mechanical HOME return (searching for mechanical zero point). Indicated below is the mechanical HOME reset mode for NC Servo: 10-1 Mode 100: Forward-Falling Trigger Individual circular points: Various starting positions (dark black in the diagram)
  • Page 153 Chapter 10 HOME return 10-2 Mode 101: Backward-Falling Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 154 Chapter 10 HOME return 10-3 Mode 102: Z Signal-Forward-Rising Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 155 Chapter 10 HOME return 10-4 Mode 103: Z Signal-Forward-Falling Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 156 Chapter 10 HOME return 10-5 Mode 104: Forward-Rising Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 157 Chapter 10 HOME return 10-6 Mode 105: Backward-Rising Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 158 Chapter 10 HOME return 10-7 Mode 106: Z Signal-Backward-Rising Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 159 Chapter 10 HOME return 10-8 Mode 107: Z Signal-Backward-Falling Trigger Individual circular points: Various starting positions (dark black in the diagram) Action Description The zero starting point is in the direction of the negative limit of the DOG Sensor a. Move to the positive limit direction at the Zero Homing velocity. b.
  • Page 160 Chapter 10 HOME return 10-9 Description of HOME Return Related Parameters ⚫ HOME return ➢ Definition: Executing the HOME return ➢ Fun178P. ME_HOME EN = 1: Rising edge triggers HOME return ACT = 1: HOME return is running ERR = 1: HOME return error DN = HOME return is done ➢...
  • Page 161 Chapter 10 HOME return ➢ Homing Origin Offset: The offsetting quantity for compensating the HOME return and positioning ➢ Homing Find Velocity: Search the HOME speed ➢ Homing Creep Velocity: Reduce to creep speed after touching the HOME ➢ Homing Deceleration: The deceleration required for reducing the reset crawl speed after touching the HOME ➢...
  • Page 162 Chapter 11 JOG Mode JOG Mode 11-1 JOG Mode 0 ........................1-3 11-2 JOG Mode 1 ........................1-4 11-3 JOG Mode 2 ........................1-5 11-4 JOG Mode 3 ........................1-6 M-Series PLC Motion User Manual...
  • Page 163 Chapter 11 JOG Mode This product provides Fun180 for the user to quickly complete the JOG function for the Servo. The relevant description of Fun180 ME_JOG will be described below, and users can also learn about this Function through chapters 6-8. Fun180.ME_JOG Parameter Description ➢...
  • Page 164 Chapter 11 JOG Mode 11-1 JOG Mode 0 ⚫ Function Description When EN of FUN180 = 1, it will move at the JOG initial speed set by the motion axis, until EN = 0 of FUN180, it will stop the servo operation immediately. ⚫...
  • Page 165 Chapter 11 JOG Mode 11-2 JOG Mode 1 ⚫ Function Description When EN= 1 of FUN180, it will move at the JOG start speed set by the motion axis until the JOG distance set by the motion axis is executed, and the servo operation will stop immediately. ⚫...
  • Page 166 Chapter 11 JOG Mode 11-3 JOG Mode 2 ⚫ Function Description When EN = 1 of FUN180, it will advance from the JOG initial speed set by the motion axis, and accelerate to the JOG speed set by the motion axis with the JOG acceleration set by the motion axis, until EN=0 of FUN180, it will start at the JOG speed set by the motion axis after the set JOG deceleration decreases to the set JOG start speed of the motion axis, the servo operation will stop immediately.
  • Page 167 Chapter 11 JOG Mode 11-4 JOG Mode 3 ⚫ Function Descripition When EN of FUN180 = 1, it will move forward from the JOG initial speed set by the motion axis, and accelerate to the JOG speed set by the motion axis with the JOG acceleration set by the motion axis until the JOG distance set by the motion axis is executed.
  • Page 168 Chapter 13 Hand Wheel Mode Test Run Starting Test Run ......................1-2 12-1 Description of Motion Test Run ..................1-2 12-2 12-3 Description of Test Run Position Control ................1-3 Descriptoin of Test Run Velocity Control ................1-2 12-4 12-5 Description of Test Run Torque Control ................1-5 M-Series PLC Motion User Manual...
  • Page 169 Chapter 13 Hand Wheel Mode The Test Run is the motion control function specially designed for UperLogic and it belongs to built-in features. To run the Motion control with M-PLC Controller, it can be achieved with the following three methods: 1) Ladder control; 2) Motion Flow; and 3) Test Run. When using this product for the first time, the Test Run function is the quickest, most convenient and easiest method because it allows the user to conduct the Servo operation test without the need of writing any line of the PLC Ladder program and Motion Flow control process.
  • Page 170 Chapter 13 Hand Wheel Mode 12-2 Description of Motion Test Run The UperLogic test run allows the user to do running tests without editing any Ladder and motion flows. It provides users with three control methods: Position Control, Speed Control, and Torque Control. Each control will be described in subsequent chapters.
  • Page 171 Chapter 13 Hand Wheel Mode Speed Control It provides users with speed control, which will be introduced in detail in subsequent chapters. Torque Control It provides users with torque control, which will be introduced in detail in subsequent chapters. M-Series PLC Motion User Manual...
  • Page 172 Chapter 13 Hand Wheel Mode 12-3 Description of Test Run Position Control The screen of the position control for trial run is as shown in the figure below. The position control provides a total of three control methods: “JOG”, “Test Point” and “HOME Return”, which will be explained one by one below.
  • Page 173 Chapter 13 Hand Wheel Mode (Same as JOG mode 2) JOG Speed & JOG After clicking, it will advance from the JOG start speed set by the motion axis, and accelerate to the JOG speed set by the motion axis with the JOG acceleration set by the motion axis, until the JOG distance set by the motion axis is executed, and decelerate with the JOG set by the motion axis.
  • Page 174 Chapter 13 Hand Wheel Mode Users can test according to the above settings, or refer to the chapter of movement points for more details of the settings. ⚫ HOME Return Function Description Provide the user with the test of homing, the operation mode is the same as the homing set by the motion axis.
  • Page 175 Chapter 13 Hand Wheel Mode 12-4 Description of Test Run Velocity Control The screen of the test run velocity control is as shown in the figure below. In the test velocity mode, please input the velocity command and torque limit first. After starting, the motor will quickly reach the velocity set by the velocity command, and keep running at the same velocity until the user stops or the torque limit is exceeded.
  • Page 176 Chapter 13 Hand Wheel Mode Hand Wheel Mode M-Series PLC Motion User Manual...
  • Page 177 Chapter 13 Hand Wheel Mode The hand wheel is mainly used to control the pulse number of the input axis. When using the hand wheel function, the user must first set the EtherCAT hand wheel input points X8-X15 to high-speed counting HSC4~HSC7.
  • Page 178 Chapter 13 Hand Wheel Mode Internal Prameter EtherCAT_Axis No. 1-16 Input Source of Encoder_Gray Code 100 M Master Axis (X8-X15) Encoder_Hardware High- Speed Counter No. 101-104 ( HSC4~HSC7 ) Ouput Target of EtherCAT_Axis No. 1-16 ([Input S Slave Axis Source of M Master Axis] cannot be same as [Ouput Target of S Slave Axis]) N Variable Gear...
  • Page 179 Chapter 14 Speed control and torque control Speed Control and Torque Control 14-1 Speed Control ........................1-2 14-2 Torque Control .......................1-6 M-Series PLC Motion User Manual...
  • Page 180 Chapter 14 Speed control and torque control This section describes the speed control and the torque control required for the M-PLC. You cannot retrieve the speed control and the torque control from the PLC. To use the speed and torque control functions, please retrieve through the Motion Flow function.
  • Page 181 Chapter 14 Speed control and torque control Introduction of Flow Block Function Function Description Flow Block The system will assign it automatically, and the user can change it by himself (but the flow block number cannot be repeated). Axis Axis to execute speed control Speed Speed to execute speed control, the speed command can be Command...
  • Page 182 Chapter 14 Speed control and torque control Note: If you need a detailed description of the special register, please refer to the instruction manual - special register chapter. The following will introduce the control methods of the ladder diagram and the motion flow chart respectively.
  • Page 183 Chapter 14 Speed control and torque control execute the project. 4. Regardless of whether you use the ladder diagram or the motion flow, you can check the status of the axis through the motion monitoring table after execution. The motion monitoring table is in the upper PLC > Motion Graph > Motion Monitoring Table.
  • Page 184 Chapter 14 Speed control and torque control 14-2 Torque Control In the torque control mode, it mainly controls the rotation torque of the motor, and the maximum speed limit protection can be set in the torque control mode. To execute the speed control of the specified axis, it is called by the motion flow speed control module.
  • Page 185 Chapter 14 Speed control and torque control Introduction of Flow Block Function Function Description Flow Block The system will assign it automatically, and the user can change it by himself (but the flow block number cannot be repeated). Axis Axis to execute speed control Torque Torque to execute torque control, the torque command can be Command...
  • Page 186 Chapter 14 Speed control and torque control Simple Torque Control Example 1. After completing the setting of the above motion flow block, trigger the function of servo initialization (FUN187) in the ladder diagram, and set the enable (SERVO ON) command (M10600). Note: If the user wants to know more about this part, please refer to the corresponding chapter.
  • Page 187 Chapter 14 Speed control and torque control 3. Control through the ladder diagram. If the user wants to use the process block control, he needs to go to step 2 and then directly jump to step 4. Drag FUN195 to the ladder diagram, and set R0 to 5, R10 to 20000 to download and execute the project.
  • Page 188 Chapter 15 Synchronous Control, Flying Cut Synchronous Control, Flying Cut (Synchronization Function Parameter Table/Electronic Cam Setting) 15-1 What is synchronous control? ..................1-2 15-2 Synchronous Parameter Setting Group ................1-3 15-3 Introduction of Synchronous Parameter ................1-4 15-4 Synchronous Cam Setting .................... 1-17 15-5 Characteristics of Cam Profile ..................

  • Page 189: What Is Synchronous Control

    Chapter 15 Synchronous Control, Flying Cut This section describes the basic operation and the parameter setting required for the synchronous control. The synchronous control is also one of the axis motion control functions and it can be effectively applied in the gantry mechanism and flying shear purposes. Therefore, it is a very efficient function when operating under position control mode.

  • Page 190: Synchronous Parameter Setting Group

    Chapter 15 Synchronous Control, Flying Cut 15-2 Synchronous Parameter Setting Group Groups will be created for setting the synchronous parameters so that they will be classified according to the designated group in helping the user find out the corresponding parameter. A.

  • Page 191: Introduction Of Synchronous Parameter

    Chapter 15 Synchronous Control, Flying Cut 15-3 Introduction of Synchronous Parameter Basic setting: 1. Input axis coordinate unit: The unit required for setting and displaying the coordinate, preset as PLS. It comprises the following units for option, pls/mm/deg/inch. 2. Input axis decimal point place: For setting the bit following the decimal point. It is preset as “1” and can be set to 3 places following the decimal point.
  • Page 192 Chapter 15 Synchronous Control, Flying Cut 4. Clutch OFF sliding time when deceleration stops: The time required for setting the Main Clutch at OFF when stopping the deceleration process. The synchronous control comprises deceleration stop and immediate stop functions and the duration is preset as 1000ms for each. It is also the Stop Mode for the user to release the synchronous control or when an error is detected.
  • Page 193 Chapter 15 Synchronous Control, Flying Cut 3. Cam input axis/clutch output axis phase init method: ✓ Operating parameter: Execute the initialization according to the Parameter Cam Input Axis phase preset value. ✓ Operating Cam Output Axis baseline coordinate: Execute the initialization according to the preset value created for Cam Output Axis baseline coordinate and Cam Input Axis phase.
  • Page 194 Chapter 15 Synchronous Control, Flying Cut Master Axis input: 1. Input axis selection ✓ Operating parameter: Using the external reference Encoder as the Master Axis input. ✓ Current coordinate: Using the current coordinate transmitted back by the Master Axis as the reference.
  • Page 195 Chapter 15 Synchronous Control, Flying Cut Differential Gear: The Differential Gear can be used as the Output Axis coordinate by deducting Master Axis 2 coordinate from Master Axis 1 coordinate, as per the figure below: Master Axis Phase Compensation: The Master Axis phase offsetting can compensate the fixed deviation and it can be compensated during the motion process.
  • Page 196 Chapter 15 Synchronous Control, Flying Cut 1. Compensation command value 2. Compensation change mode ✓ Direct: Compensating the phase directly ✓ Linear: Compensating the phase by means of slope. 3. Compensation change time: The time required for changing the offset mode to the linear mode, and it will be expressed as “ms”.
  • Page 197 Chapter 15 Synchronous Control, Flying Cut The Variable Gear can be used to convert the Input Axis phase to the Output Axis moving quantity according to the set variable gear ratio. 1. Variable gear ratio numerator: Refer to the formula provided below 2.
  • Page 198 Chapter 15 Synchronous Control, Flying Cut Main Clutch: Clutch ON/OFF controls the synchronization or operation stopping for the Output Axis phase. The clutch connection and disconnection can be executed with the following three methods: direct, sliding and slave. 1-11 M-Series PLC Motion User Manual...
  • Page 199 Chapter 15 Synchronous Control, Flying Cut 1. The Main Clutch ON condition comprises the following methods: ✓ Constant ON: Maintaining the connected status. ✓ Constant ON (single direction forward) ✓ Constant ON (single direction backward). Its concept is the same as constant ON (single direction forward).
  • Page 200 Chapter 15 Synchronous Control, Flying Cut For example, if M10604 is continuously ON, the clutch is ON, which is the level function. ✓ Clutch ON Request Relay (Edge): Set ON when the state of axis synchronous main clutch switch M10604 + (40*n-1) or axis synchronous auxiliary clutch switch M10611 + (40*n-1) becomes high.
  • Page 201 Chapter 15 Synchronous Control, Flying Cut 12. Clutch OFF Connecting Method: Direct: Indicates the way to set OFF Slide: Slide means that the output phase is smoothly decelerated until completely separated, ignoring the error in the process. 13. Clutch OFF slide curve: Settable range 0-4294967295 14.
  • Page 202 Chapter 15 Synchronous Control, Flying Cut Cam: Cam data No.: Setting the ID for the Cam that will be used by the Slave Axis. * If the Cam data is coded as “0”, then it will be irrelevant to the cycle and Cam travel values of the Input Axis.
  • Page 203 Chapter 15 Synchronous Control, Flying Cut * If the output filtered wave is too large, it may cause the delay of moving quantity. Therefore, it should be set by considering the delay of moving quantity. 1-16 M-Series PLC Motion User Manual...

  • Page 204: Synchronous Cam Setting

    Chapter 15 Synchronous Control, Flying Cut 15-4 Synchronous Cam Setting Please use UperLogic to set the Synchronous Cam. Indicated below is the software homepage after opening the project and it also introduces the Synchronous Cam related functions and setting. To set the Cam in the homepage, press the mouse right key and click Add New Cam and then the resulting Cam curve will be indicated as in the figure below.
  • Page 205 Chapter 15 Synchronous Control, Flying Cut Maximum Cam resolution number of cams 2048 4096 8192 16384 32768 Example: If two sets of Cam curves are used, then the Slave Cam curve of each Master Axis cycle will be segmented into resolution for 16384 points. The finer the resolution, the smoother the curve. The curve of Cam under different percentage ratios.
  • Page 206 Chapter 15 Synchronous Control, Flying Cut Per the figure below: ➢ Such Cam will be used with Axis-2 ✓ Input Axis travel: 1000mm (Axis-X) ✓ Output Axis travel: 1000mm (Axis-Y) Per the figure below: To implement the Electronic Cam curve, click the plug-in button and a point will appear in the picture automatically.
  • Page 207 Chapter 15 Synchronous Control, Flying Cut Definition of Cam curve color: Blue line: Position Red line: Speed Green line: Acceleration Orange line: Jerk 1-20 M-Series PLC Motion User Manual...

  • Page 208: Characteristics Of Cam Profile

    Chapter 15 Synchronous Control, Flying Cut 15-5 Characteristics of Cam Profile Described below are the characteristics of Cam profile: The characteristics of Cam profile curve are mainly determined by velocity, acceleration and jerk. Described below are the representing characteristics and meaning: Velocity (V): The physical quantity used to describe the motion speed and direction of the object and it is proportional to the motion quantity of the Workpiece (P=mV).
  • Page 209 Chapter 15 Synchronous Control, Flying Cut curve characteristics will become steeper in acceleration and displacement change. Deformed trapezoid: The Cam curve widely used. Due to smaller maximum acceleration value, it is suitable for high-speed and light-load purposes. Deformed sinusoidal: Such curve is presented in balanced smooth type. Compared to the deformed trapezoid curve, it will inhibit the maximum speed value.
  • Page 210 Chapter 17 Motion Alarm List Motion Alarm List 16-1 Motion Flow Alarm ......................1-2 16-2 EtherCAT Communication Error Alarm ................1-4 16-3 Action Axis Alarm ......................1-5 M-Series PLC Motion User Manual...
  • Page 211 Chapter 17 Motion Alarm List The alarms included in the FATEK M-PLC Alarm List are mainly divided into the following three types: Motion Flow Error Alarm, EtherCAT Communication Error Alarm and Axial Error Alarm. The aforesaid alarms will be stored in the respective Special Register.
  • Page 212 Chapter 17 Motion Alarm List Position action Inspection overtime after Extend the inspection time or Stop the error axis positioning finish completing the action. add the allowable tolerance. overtime Position change target Positioning curve type is Close or change the target Stop the error axis position error incorrect, and only the...
  • Page 213 Chapter 17 Motion Alarm List 16-2 EtherCAT Communication Error Alarm The error code of EtherCAT communication error alarm is displayed by Special Register R36883. Provided below are the R36883 error alarm codes: Error Symptom Description Solution Code EtherCAT offline PLC and driver Check if the EtherCAT communication overtime.
  • Page 214 Chapter 17 Motion Alarm List 16-3 Action Axis Alarm The action axis error alarm is stored in Special Register R37004, and each action axis shall correspond to the respective register. Regarding this, “R37004” is used as the special register required for storing Axis-1 error alarm, Axis-2 error alarm special register is R37004+150 and Axis-3 is R37004+300, and so on.
  • Page 215 Chapter 17 Motion Alarm List Action axis backward Action axis reaches Check if the action setting software limit backward software limit. or the software limit is correct. Action axis forward software Forward limit switch is Check if the action setting is limit switch triggered.
  • Page 216 Chapter 17 Motion Alarm List Axis parameter error: Forward limit coordinate is Software limit position smaller than backward limit setting error coordinate. HOME reset error: Sliding out of the HOME 1. Increase deceleration Deceleration is too small sensor scope when speed.
  • Page 217 Amendment record Motion Probe Probe Number ................... 錯誤! 尚未定義書籤。 17-1 Probe Mode ..................錯誤! 尚未定義書籤。 17-2 Information of Probe Register ............錯誤! 尚未定義書籤。 17-3 M-Series PLC Motion User Manual...
  • Page 218 Amendment record 17-1 Probe Number 0: Off 1: Input with external signal 2: Use encoder Z-phase signal 17-2 Probe Mode 0: Single trigger, Rising trigger 1: Continuous trigger, Rising trigger 2: Single trigger, Falling trigger 3: Continuous trigger, Falling trigger 17-3 Information of Probe Register Name Description...
  • Page 219 Amendment record Motion Example Application 中斷定長 .........................1-2 18-1 6 軸噴塗機 ........................1-410 18-2 VFFS 垂直填料包裝機 ....................1-419 18-3 M-Series PLC Motion User Manual...
  • Page 220 Amendment record 18-1 中斷定長 Background The grinding machine is a common grinding tool, which uses the grinding wheel to grind or cut the surface of the material to be processed when it rotates at a high speed, so as to achieve the purpose of processing and dressing.
  • Page 221 Amendment record Use the disc to simulate the mechanism of the grinding wheel (high inertia), and use the note paper as a positioning aid: Connect the driver of the servo motor and use Ether Cat communication to communicate with M PLC: As a button switch for cutting speed and controlling the rotation and stopping of the disc at a specific angle, X1 is used for rotation or stop, X2 is 3000deg/s, X4 is 15000deg/s, and if neither is used, it is...
  • Page 222 Amendment record Flow Control This case consists of 1-axis rotation. By setting different speed controls, the different speeds required to deal with different materials can be simulated, thereby improving the grinding efficiency. After use or when the grinding wheel needs to be replaced, it can stop at a fixed position to For the replacement and maintenance of the subsequent grinding wheel, and because the inertia of the grinding wheel is generally large and the grinding wheel cannot be retracted, it is necessary to decelerate and stop with the set deceleration when stopping, and let the final stop position be the...
  • Page 223 Amendment record Flow control of the case is as follows: M-Series PLC Motion User Manual...
  • Page 224 Amendment record Program Design This case simulates the need to switch the speed of the grinding wheel due to different material properties of the object to be ground, and it will maintain a fixed speed after switching until the speed is changed or stopped. Because it needs to be combined with the interrupt fixed angle function, the single-axis speed operation mode of the point table can be used to keep the disc running at a fixed speed.
  • Page 225 Amendment record Among them, you need to double-click the positioning control box twice to set the change behavior, change the change behavior to “中斷定角”, and write the change condition. This uses M330=1 as the condition, Because axis 1 is used, check axis 1 to enable it. Part of the changed value must be filled in the fixed angle when stopping.
  • Page 226 Amendment record Fig. 4: Ladder diagram of speed triggered switch button M-Series PLC Motion User Manual...
  • Page 227 Amendment record When the button changes, it will automatically change the mode to the speed change mode, and write the value into the value of the changed value through the different speed (variable) of the command FUN181 ME_CHGPRM, and trigger the change condition, that is, M330 ON, and then change Return to the interrupt fixed angle mode, wait for the next change of the shift button or the stop button (triggered by the interrupt fixed angle change button), the Ladder automatically changes the mode to write the speed and then switch back to the fixed angle program part as shown in the...
  • Page 228 Amendment record 18-2 6 軸噴塗機 Mechanic Structure The 6 軸匯流排噴塗機 is a mechanical reciprocating spraying method that is different from robot automatic spraying and fixed automatic spraying equipment. As the name implies, reciprocating is from left to right, then from right to left (similarly from front to back, from back to front). The paint spraying machine is to fix the spray gun and the spraying machine together, so that reciprocating spraying can be realized.
  • Page 229 Amendment record Axis-X of 6 軸往復噴塗機 is responsible for the left and right movement of the painting module as shown in the figure below. The Y axis is responsible for the forward and backward movement of the painting module. The Z axis is responsible for the up and down movement of the spray gun. The W axis is responsible for the up and down swing of the spray gun.
  • Page 230 Amendment record Control Flow of the 6 軸匯流排噴塗機 is sjown below: Program Design Ordinary Plane Spraying 6 軸匯流排噴塗機 can carry out Ordinary Plane Spraying and special-shaped curved surface spraying. Ordinary plane spraying is suitable for products with regular and flat surfaces, such as flat plates in furniture, some flat parts in toys and auto parts;...
  • Page 231 Amendment record ensure the pass rate of the product. Ordinary plane spraying mode is shown in the figure below: Schematic diagram of ordinary plane spraying mode The motion trajectory of the 6 軸匯流排噴塗機 is to select the set motion mode, modify the starting point and end point, and set the motion control mode of each step in the form of position control data table.
  • Page 232 Amendment record Fig. 1: Table of motion control points of 軸匯流排噴塗機 Fig. 2: Part of the program of the motion control trajectory of the 軸匯流排噴塗機 M-Series PLC Motion User Manual...
  • Page 233 Amendment record Special-shaped Curved Surface Spraying The special-shaped curved surface spraying needs to determine the spraying mode according to the size and placement of the product. There are X, Y axis arc R axis follow, X, Z axis arc W axis follow, Y, Z axis arc W axis follow 3 arc mode It can be selected by customers, and the speed of action and the size of the arc can be adjusted.
  • Page 234 Amendment record Fig. 4: Motion track preset table of 6 軸匯流排噴塗機 Fig. 5: Motion track setting form of 6 軸匯流排噴塗機 M-Series PLC Motion User Manual...
  • Page 235 Amendment record After the 6 軸匯流排噴塗機 is started, it operates according to the set steps. After completing one step, it reads the data of the next step, and performs the next step according to the set data. When the program runs and reads the next step without setting the action, then Indicates that the spraying action of the current product has been completed, execute the revolution to rotate the current spraying platform, and restart the spraying work of the next product from the first step.
  • Page 236 Amendment record Fig 6: Demonstration of spiral interpolation trajectory Fig. 6-2: 6 軸匯流排 spiral interpolation program control M-Series PLC Motion User Manual...
  • Page 237 Amendment record 3D Arc Interpolation Control In the spraying process of special-shaped curved surface products, some products cannot be placed flat on the spraying platform, and the placement position will have an angle with the spraying platform. At this time, the spiral interpolation cannot meet the current process requirements. It can make the action trajectory of the spray gun the same as the shape of the product, so as to meet the customer's spraying process requirements.
  • Page 238 Amendment record Fig. 8: 6 軸匯流排 3-axis space arc interpolation trajectory M-Series PLC Motion User Manual...
  • Page 239 Amendment record 18-3 VFFS 垂直填料包裝機 【Example 1】VFFS 垂直填料包裝機 With E-CAM, use the reference axis to synchronously control the three axes of A. Filling Machine/B. Drawing Machine/C. Sealing machine In the following sample program, the axis numbers of Reference Axis 1/Reference Axis 2/Filling Machine/Drawing Machine/Sealing Machine correspond to Axis 5/Axis 1/Axis 4/Axis 3/Axis 2.
  • Page 240 Amendment record Stepping Ladder Diagram CAM Curve ① CAM Curve ② M-Series PLC Motion User Manual...
  • Page 241 Amendment record CAM Curve ③ M-Series PLC Motion User Manual...
  • Page 242 Amendment record Time Order Chart Monitoring chart during actual operation M-Series PLC Motion User Manual...
  • Page 243 Amendment record Uperlogic Description M9131 Initial Pulse Servo connection initialization When initialization is complete, servo control ready signal ON → Axis Servo on Servo on signal feedback All axes are Ready→M4 ON (Axis ready) When each axis alarm occurs M2 Manual→ON clear alarm M3→ON Clea eroor alarm...
  • Page 244 Amendment record Uperlogic Description When an axis error occurs, the homing action cannot be performed In this example, the reset I/O signal is output from the PLC, so M10645 coil is required M12 ON→axis 3 starts homing Return to original action completed →...
  • Page 245 Amendment record Uperlogic Description Flow start → enter parallel branch After entering each branch, confirm the servo ready signal Start synchronous action (For synchronization settings, please refer to the instructions on the next page) After the synchronous action is enabled, the flow stops until the user flow (The synchronous action will be canceled when the...
  • Page 246 Amendment record Sync settings and CAM settings After adding the “Synchronize” function block in the motion flow, it is necessary to perform CAM settings on this function block so that axes 1, 2, and 4 can correctly follow the master axis coordinates to perform synchronous E-CAM motion.
  • Page 247 Amendment record After setting the input and output axes, then set the “cam data number”, and the axis can move according to the cam stroke of this number. M-Series PLC Motion User Manual...
  • Page 248 Amendment record Take the package axis of axis 2 as an example, when I set the Cam numbered 2, the stroke is as shown in the figure below: The cam curve of the display axis 2 packaging axis will move according to this stroke, the “1000” of the Y axis will be changed according to the “cam stroke”...
  • Page 249 Amendment record The same is true for other axes, when the synchronization and CAM travel of each axis are set Users can perform cam CAM control synchronously. M-Series PLC Motion User Manual...
  • Page 250 Amendment record Setting synchronous contact The action of axis 3 needs to be matched with the synchronous contact function of axis 2. Select the synchronous contact number 2 according to the figure below: Axis-2 synchronous contact temporary register R37180 will change according to the settings in the figure below, take this figure as an example at the position of 75% of the cam curve R37180=1, 25% Position R37180=0 M-Series PLC Motion User Manual...
  • Page 251 Amendment record 3. Setting E-CAM Stroke The figure below shows the CAM settings of each axis M-Series PLC Motion User Manual...
  • Page 252 Amendment record 4. Motion Axis Setting Reference M-Series PLC Motion User Manual...