Page 1 M-Series PLC Motion User Manual 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.
Page 2 Precautions INDEX INDEX Amendment Record ..............1-1 1-1 Motion Unit Function Diagram ..............1-3 1-2 Axis Control Function and Reference ............1-4 1-3 Axis Control Function and Reference ............1-5 1-4 Action before M-PLC Position Control ............1-8 Motion Flow_ Special Register ............. 1-3 2-2 Motion Control_Special Relay ..............
Page 3 Precautions 6-8 Fun180 JOG Control (MFJog) ..............1-12 6-9 Fun178 HOME Return (MFHome) ............1-14 6-10 Fun185 Reset Motion Error Alarm (MFSysRstAlm) ........ 1-16 6-11 Fun186 Stop Motion Flow (MFFlowStop) ..........1-17 6-12 Fun181 Change Motion Control Parameter .......... 1-18 6-13 Fun188 Read Motion Control Recipe .............
Page 4 Precautions 7-5 Merge ......................1-5 7-6 Origin Return ....................1-6 7-7 Positioning ....................1-7 7-8 Speed Control ..................... 1-8 7-9 Torque Control ..................1-10 7-10 Standby ....................1-11 7-11 Subroutine ....................1-12 7-12 GoTo ......................1-13 7-13 Sync ......................1-14 7-14 Calculate ....................
Page 5 Precautions 9-2 Motion Parameter Mapping Table Using Method ........1-8 9-3 Precautions for Use ................... 1-10 10-1 Mode 100: Forward-Falling Trigger ....... 1-2 10-2 Mode 101: Backward-Falling Trigger ......1-5 10-3 Mode 102: Z Signal-Forward-Rising Trigger ....1-7 10-4 Mode 103: Z Signal-Forward-Falling Trigger ....1-10 10-5 Mode 104: Forward-Rising Trigger......
Page 6 Precautions 12-4 Description of Test Run Velocity Control ..........1-8 12-5 Description of Test Run Torque Control ..........1-8 14-1 Speed Control ................... 1-2 14-2 Torque Control ..................1-6 15-1 What is synchronous control? ..............1-2 15-2 Synchronous Parameter Setting Group ........... 1-3 15-3 Introduction of Synchronous Parameter ..........
Page 7 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 8 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 9 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 10 Chapter 1 Summary of M-PLC Motion Control Unit Summary of M-PLC Motion Control Unit ............錯誤! 尚未定義書籤。 Motion Unit Function Diagram ..........錯誤! 尚未定義書籤。 Axis Control Function and Reference ..........錯誤! 尚未定義書籤。 Axis Control Function and Reference M-Series PLC Motion User Manual...
Page 11 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 12 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 13 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 14 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 15 Chapter 1 Summary of M-PLC Motion Control Unit Described below are the M-PLC status indicators: M-Series PLC Motion User Manual...
Page 16 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 17 Chapter 2 Motion Parameters and Status (Special Register and Relay) Motion Parameters and Status (Special Register and Relay) ..........錯誤! 尚未定義書籤。 Motion Flow_Special Relay & Register .......... 錯誤! 尚未定義書籤。 Motion Control_Special Relay & Register M-Series PLC Motion User Manual...
Page 18 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 19 Chapter 2 Motion Parameters and Status (Special Register and Relay) 2-1 Motion Flow_ Special 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 20 Chapter 2 Motion Parameters and Status (Special Register and Relay) 9：Motion flow in error R36883 Motoin Program Error Code： The value is the error code of the last occurrence within the motion flow states (R36924 - 36933)  R36884 – 36903 Motion Branch Flow Block Number： Current floe block number of Motion branch.
Page 21 Chapter 2 Motion Parameters and Status (Special Register and Relay) 2-2 Motion Control_Special Relay 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 22 Chapter 2 Motion Parameters and Status (Special Register and Relay) Relay No. Function System Tag Symbol M10613+ 40*(n- Axis Synchronous auxiliary AX1_SYNC_AUX_CLU_OFF_BAN clutch OFF Disable M10614+ 40*(n- Reserved M10615+ 40*(n- Reserved M10616+ 40*(n- Reserved M10617+ 40*(n- Axis Probe 1 Function ON AX1_PROBE1_ON M10618+ 40*(n- Axis Probe 1 Function...
Page 23 Chapter 2 Motion Parameters and Status (Special Register and Relay) Relay No. Function System Tag Symbol M10630+ 40*(n- Axis specifies current AX1_SPEC_CURR_COORD coordinates M10631+ 40*(n- Axis operation mode ON AX1_OP_MODE_ON M10632+ 40*(n- Axis operation mode unit AX1_OP_MODE_UNIT M10633+ 40*(n- Axis operation mode AX1_OP_MODE_ABS_COORD absolute coordinates M11240 +...
Page 24 Chapter 2 Motion Parameters and Status (Special Register and Relay) Relay No. Function System Tag Symbol M11255+ 40*(n- Torque mode in progress AX1_TORQ_MODE M11256+ 40*(n- Torque mode done AX1_TORQ_MODE_IS_DONE M11257+ 40*(n- Axis soft limit(+) status AX1_SOFT_LIM_POS_STATUS M11258+ 40*(n- Axis soft limit(-) status AX1_SOFT_LIM_NEG_STATUS M11259+ 40*(n- Axis origin limit status...
Page 25 Chapter 2 Motion Parameters and Status (Special Register and Relay) Relay No. Function System Tag Symbol R37006+ 150*(n-1) Warning Detail Information 1 AX1_WARN_INFO_1 R37007+ 150*(n-1) Warning Detail Information 2 AX1_WARN_INFO_2 R37012+ 150*(n-1) Axis Control AX1_AX_CTRL R37013+ 150*(n-1) Axis Warning Code AX1_WARN_CODE DR37014+ 150*(n-1) Command Coordinate...
Page 26 Chapter 2 Motion Parameters and Status (Special Register and Relay) M10521 All axis servo reset： Rising: All axis clearing error  1.The motion program status (R36882) should change from 9 to 4 or 6, and (R36924 - R36933) should  change from 9 to 4 2.
Page 27 Chapter 2 Motion Parameters and Status (Special Register and Relay) 5. Axis Status is in error (M11242 + 40*(n-1)) and Error Status is in alarm (M11243 + 40*(n-1)) should be reset. M10602 + 40*(n-1) Axis deceleration stop： Rising: Single axis deceleration stop. ...
Page 28 Chapter 2 Motion Parameters and Status (Special Register and Relay) Low: Off  Enable：Set by homing IO source in motion axis parameters.  The axis limit(-) status (M11261 + 40*(n-1)) should change accordingly  M10608 + 40*(n-1) Z Count Signal： High: On ...
Page 29 Chapter 2 Motion Parameters and Status (Special Register and Relay) Enable：Does not act when axis sync aux clutch OFF condition is met  M10617 + 40*(n-1) Axis Probe 1 on： Enable：Enable the drive probe 1 function.  When the probe is triggered, set the trigger status of axis probe 1 (M11262 + 40*(n-1)) to ON, and the ...
Page 30 Chapter 2 Motion Parameters and Status (Special Register and Relay) M10623 + 40*(n-1) Axis Syncronizationc Clutch Edge Trigger Buffer On： High: On  Low: Off  Enable：When the clutch ON is set as edge-triggered, the caching function takes effect.  M10624 + 40*(n-1) Initialization of the Cam phase when the axis synchronous clutch is OFF：...
Page 31 Chapter 2 Motion Parameters and Status (Special Register and Relay) M10628 + 40*(n-1) Axis pauses current action： High: On  Low: Off  On：Pause the current action, and the action issued after the pause will be executed once the pause is ...
Page 32 Chapter 2 Motion Parameters and Status (Special Register and Relay) Speed mode：PLS/s (Pulse per second) Torque mode：0.1%. M10632 + 40*(n-1) Axis operation mode unit： High: Pulse Unit  Low: Axis Table Unit  Pulse Unit：  Position mode：axis coordinate units Speed mode：axis coordinate units per second Torque mode：0.1%.
Page 33 Chapter 2 Motion Parameters and Status (Special Register and Relay) Error info should be visible in R37004 + 150*(n-1) and R37005 + 150*(n-1) .  Can use M10521 or M10601 + 40*(n-1) to reset.  M11243 + 40*(n-1) Axis warning in progress： High: In alarm ...
Page 34 Chapter 2 Motion Parameters and Status (Special Register and Relay) M11248 + 40*(n-1) Positioning done： High: Positioning mode is complete  Reset：To be reset when in axis positioning mode (M11247 + 40*(n-1)) in the high bit  M11249 + 40*(n-1) JOG in progress： High: In JOG mode ...
Page 35 Chapter 2 Motion Parameters and Status (Special Register and Relay) M11254 + 40*(n-1) Speed mode done： High: Target speed reaxhed / Upper speed limit reached  1.Speed mode reaches the target speed.  2.Torque mode reaches the speed limit. M11255 + 40*(n-1) Torque mode in progress： High: In Torque mode ...
Page 36 Chapter 2 Motion Parameters and Status (Special Register and Relay) High: Status ON  Low: Status OFF  Display the actual limit status received within Motion.  M11261 + 40*(n-1) Axis limit(-) status： High: Status ON  Low: Status OFF ...
Page 37 Chapter 2 Motion Parameters and Status (Special Register and Relay) High: Paused.  Display whether the axis is currently in pause mode.  M11267 + 40*(n-1) Homing mode Z-phase signal： High: Z-phase signal is triggered.  Display Motion internally actual received Z-phase signal status. ...
Page 38 Chapter 2 Motion Parameters and Status (Special Register and Relay) Can be cleared by M10521 (reset all axes) or M10601 + 40*(n-1) (reset an axis).  Refer to the alarm list for error codes.  R37005+ 150*(n-1) Axis Error Info 2： Display current axis error flow block number.
Page 39 Chapter 2 Motion Parameters and Status (Special Register and Relay) Torque Mode: Meaningless.  Includes decimal places, determined by the decimal point position in the motion axis settings (axis table)  parameters. DR37018+ 150*(n-1) Axis Command Position： Display the controller's (pulse) position command for this axis. ...
Page 40 Chapter 2 Motion Parameters and Status (Special Register and Relay) R37029+ 150*(n-1) Current Axis Motion Flow No.： Display the motion flow number of the current control axis.  0 when there is no control or when using ladder instructions.  DR37030+ 150*(n-1) Axis contact output：...
Page 41 Chapter 2 Motion Parameters and Status (Special Register and Relay) DR37042+ 150*(n-1) Axis Driver Probe 1 Coordinates： Display the coordinate of probe 1 from axis driver feedback.  When axis probe 1 on (M10617 + 40*(n-1)) is triggered, trigger status of axis probe 1 (M11262 + 40*(n-1)) ...
Page 42 Chapter 3 EtherCAT function and configuration EtherCAT Function and Configuration Chapter 1 EtherCAT function and configuration M-Series PLC Motion User Manual...
Page 43 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 44 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 45 Chapter 4 Axis Parameters and Setting Axis Parameters and Setting Motion Network Setting ..............錯誤! 尚未定義書籤。 Motion Axis Parameter Setting ............錯誤! 尚未定義書籤。 M-Series PLC Motion User Manual...
Page 46 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 47 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 48 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 49 Chapter 4 Axis Parameters and Setting up to 3 places after the decimal point. Pulse/Revolution: The pulse number of the motor during each revolution of operation. Unit/Revolution: The distance achieved by the motor during each revolution of operation. Velocity Unit: The watch table displays the velocity unit returned by the selected driver. Velocity Gain: Select the minimum scale of the velocity returned by the driver.
Page 50 Chapter 4 Axis Parameters and Setting it shall be carried to the first place after the decimal point. Probe: When to use: The Probe Function is also called the Position Latch Function. The value of the servo axis or encoder is latched in real time through the external DI signal and Z signal. The probe function is suitable for applications where position synchronization is required, such as die-cutting and printing.
Page 51 Chapter 4 Axis Parameters and Setting slower speed). Return deceleration: Set up the deceleration required for entering the scope of HOME. Limit Switch (-) (DI): Set up the bit when Limit Switch reaches 60FDh, and it is normally preset as “0”. For detailed bit, please refer to Driver Manual.
Page 52 Chapter 5 Point Table and Point Parameters Point Table and Point Parameter ............錯誤! 尚未定義書籤。 Motion Point Setting Interface ................ 錯誤! 尚未定義書籤。 Point Preview Picture M-Series PLC Motion User Manual...
Page 53 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 54 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 55 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 56 Chapter 5 Point Table and Point Parameters Standby: The “ms” duration that should be paused before moving to the 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 57 Chapter 5 Point Table and Point Parameters M-Series PLC Motion User Manual...
Page 58 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 59 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 60 Chapter 6 Ladder Motion Commands Ladder Motion Commands Fun187 System Initialization (MFSysInit) ........... 錯誤! 尚未定義書籤。 Fun176 Start Motion Flow (MFFlowStart) .......... 錯誤! 尚未定義書籤。 Fun177 Motion System Emergency Stop (MFSysStop) ..... 錯誤! 尚未定義書籤。 Fun182 Pause Motion Flow (MFFlowPause) ........錯誤! 尚未定義書籤。 Fun184 Halt Motion Flow (MFFlowHalt) ..........
Page 61 Chapter 6 Ladder Motion Commands Fun189 Write Motion Control Recipe ..........錯誤! 尚未定義書籤。 6-14 Fun191 Read Motion Control Cam ............ 錯誤! 尚未定義書籤。 6-15 Fun192 Write Motion Control Cam ............ 錯誤! 尚未定義書籤。 6-16 Fun193 EtherCAT Handwheel (BGearMPG) ........錯誤! 尚未定義書籤。 6-17 Fun194 Velocity Control (MFVelCtl) ...........
Page 62 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 63 Chapter 6 Ladder Motion Commands 6-1 Fun187 System Initialization (MFSysInit) Fun187 Fun187 System Initialization MFSysInit MFSysInit Command Description Ladder Symbol No Operand 187P. MFSysInit Execution Control ACT Acting ERR Error DN Done unction Description ⚫ If you want to control the servo through EtherCAT communication, you must execute this command before executing any motion control.
Page 64 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. ⚫...
Page 65 Chapter 6 Ladder Motion Commands 6-2 Fun176 Start Motion Flow (MFFlowStart) Fun176 Fun176 Start Motion Flow MFFlowStart MFFlowStart Command Description Ladder Symbol Operand ID: Motion Flow ID 187P. MFFlowStart Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...
Page 66 Chapter 6 Ladder Motion Commands Fun177 Motion System Emergency Stop (MFSysStop) Fun177 Fun177 Motion System Emergency Stop MFSysStop MFSysStop Command Description Ladder Symbol No Opearand 177P. MFSysStop 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 67 Chapter 6 Ladder Motion Commands 6-4 Fun182 Pause Motion Flow (MFFlowPause) Fun182 Fun182 Pause Motion Flow MFFlowPause MFFlowPause Command Description Ladder Symbol Operand ID: Motion Flow ID 182P. MFFlowPause Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register Type R34768...
Page 68 Chapter 6 Ladder Motion Commands 6-5 Fun184 Halt Motion Flow (MFFlowHalt) Fun184 Fun184 Halt Motion Flow MFFlowHalt MFFlowHalt Command Description Ladder Symbol Operand ID: Motion Flow ID 184P. MFFlowHalt Execution Control ACT Acting ████ ID : ERR Error Done Relay and Register R34768 R35024 R35280...
Page 69 Chapter 6 Ladder Motion Commands 6-6 Fun183 Resume Motion Flow (MFFlowResume) Fun183 Fun183 Resume Motion Flow MFFlowResume MFFlowResume Command Description Ladder Symbol Operand ID: Motion Flow ID 183P. MFFlowResume Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...
Page 70 Chapter 6 Ladder Motion Commands 6-7 Fun179 Position Control (MFPointMov) Fun179 Fun179 Position Control MFPointMov MFPointMov Command Description Ladder Symbol Operand PT : Point number of the executing 179P. MFPointMov Execution Control position control point table ACT Acting ████ ID : AX : Master axis of the executing position control AX :...
Page 71 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 72 Chapter 6 Ladder Motion Commands 6-8 Fun180 JOG Control (MFJog) Fun180 Fun180 JOG Control MFJog MFJog Command Description Ladder Symbol Operand AX : Axis to execute JOG control 180P. MFJog Execution Control MD : Execution mode ACT Acting ████ AX : ████...
Page 73 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 74 Chapter 6 Ladder Motion Commands 6-9 Fun178 HOME Return (MFHome) Fun178 Fun178 HOME Return MFHome MFHome Command Description Ladder Symbol Operand AX : Axis to execute HOME Return 178P. MFHome Execution Control ACT Acting ████ AX : ERR Error DN Done Relay and Register Type R34768...
Page 75 Chapter 6 Ladder Motion Commands Fun178 Fun178 HOME Return MFHome MFHome 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 76 Chapter 6 Ladder Motion Commands 6-10 Fun185 Reset Motion Error Alarm (MFSysRstAlm) Fun185 Fun185 Reset Motion Error Alarm MFSysRstAlm MFSysRstAlm Command Description Ladder Symbol Operand 185P. MFSysRstAlm 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 77 Chapter 6 Ladder Motion Commands 6-11 Fun186 Stop Motion Flow (MFFlowStop) Fun186 Fun186 Stop Motion Flow MFFlowStop MFFlowStop Command Description Ladder Symbol Operand ID: Motion Flow ID 186P. MFFlowStop Execution Control ACT Acting ████ ID : ERR Error DN Done Relay and Register R34768 R35024...
Page 78 Chapter 6 Ladder Motion Commands 6-12 Fun181 Change Motion Control Parameter Fun181 Fun181 Change Motion Control Parameter MFChgTbPrm MFChgTbPrm Command Description Ladder Symbol Operand TM: Table Number PN: Point Number S: Item Number PV: Written Value Relay and Register R34768 R35024 R35280 R43224...
Page 79 Chapter 6 Ladder Motion Commands ⚫ Operand TM (Table Number): 0 Point Table, 1 Axis Table, 2 Synchronous Table, 128 Flow Table PN (Point Number): According to the table to be modified by TM, it corresponds to different types of numbers, such as Point Table Number, Axis Number, and Flow Block Number. S (Item Number): Please refer to the table below.
Page 80 Chapter 6 Ladder Motion Commands ⚫ 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. 1-21 M-Series PLC Motion User Manual...
Page 81 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 82 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 83 Chapter 6 Ladder Motion Commands Aux clutch ON sliding curve 32Bit INT Aux clutch ON sliding time 32Bit UINT Aux clutch ON following time 32Bit UINT Aux clutch ON follow-ups 32Bit INT Aux clutch OFF setting value 32Bit UINT Aux clutch OFF delay 32Bit INT Aux clutch OFF sliding curve 32Bit INT...
Page 84 Chapter 6 Ladder Motion Commands Reserve Axis Velocity Target Rotating Speed 32Bit INT 1-16 Axis No. Mode Parameter Torque Limit 16Bit UINT Target Torque 16Bit INT Axis Torque 1-16 Axis No. Mode Parameter Rotating Speed Limit 32Bit UINT Modify Standby Time 32Bit UINT Flow Block Modify the positioning control...
Page 85 Chapter 6 Ladder Motion Commands 6-13 Fun188 Read Motion Control Recipe Fun188 Fun188 Read Motion Control Recipe MFSysRCPR MFSysRCPR Command Description Ladder Symbol Operand Md: Mode D: Initial register of Recipe Gp: Read the column of the recipe table Relay and Register R34768 R35024 R35280...
Page 86 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 87 Chapter 6 Ladder Motion Commands S Curve Master Axis WORD 1~16 Non use = 0 Interpolation 1 WORD 1~16 Non use = 0 Interpolation 2 WORD 1~16 Non use = 0 Interpolation 3 WORD 1~16 Non use = 0 Target Position DWORD Precision: Decimal Place Master Axis...
Page 88 Chapter 6 Ladder Motion Commands inch Decimal Point WORD 1000: 1 100: 0.1 10: 0.01 1: 0.001 Pulse/Revolution DWORD Precision: Decimal Place Unit/Revolution DWORD Precision: Decimal Place Velocity Unit DWORD PLS/Sec PLS/min Velocity Gain DWORD Precision: 0.001 R+10 Start Velocity DWORD Precision: Decimal Place Max Motor...
Page 89 Chapter 6 Ladder Motion Commands 105. Backward-Rising Trigger 106. Z Signal-Backward-Rising Trigger 107. Z Signal-Backward-Falling Trigger Homing IO Source WORD From Servo Driver R+45 From PLC Homing Start WORD Negative R+46 Direction Positive Homing Origin DWORD Precision: Decimal Place R+47 Offset (negative number allow) Homing Find...
Page 90 Chapter 6 Ladder Motion Commands R+16 Main clutch DWORD Precision: Decimal Place output axis phase default value R+18 Auxiliary clutch DWORD Precision: Decimal Place output axis phase default value R+20 Reserve DWORD R+22 Cam input axis DWORD Precision: Decimal Place phase default value R+24...
Page 91 Chapter 6 Ladder Motion Commands transformation numerator R+48 Aux Axis DWORD coordinate transformation denominator R+50 Master Axis DWORD Precision: Decimal Place compensation command value R+52 Master Axis WORD compensation change mode R+53 Master Axis DWORD compensation change time R+55 Aux Axis DWORD Precision: Decimal Place compensation...
Page 92 Chapter 6 Ladder Motion Commands R+91 Reserve WORD R+92 Main clutch OFF WORD sliding curve R+93 Reserve DWORD R+95 Main clutch OFF DWORD sliding time R+97 Aux clutch ON WORD condition R+98 Aux clutch ON DWORD Precision: Decimal Place setting value R+100 Aux clutch ON DWORD...
Page 93 Chapter 6 Ladder Motion Commands constant R+145-149 Reserve Program Example Ladder 1-34 M-Series PLC Motion User Manual...
Page 94 Chapter 6 Ladder Motion Commands ⚫ 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 95 Chapter 6 Ladder Motion Commands 6-14 Fun189 Write Motion Control Recipe Fun189 Fun189 Write Motion Control Recipe MFSysRCPW MFSysRCPW Command Description Ladder Symbol Operands Md: Mode D: Initial Recipe Register Gp: Write to the column of the recipe table Relay and Register R34768 R35024 R35280...
Page 96 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 97 Chapter 6 Ladder Motion Commands Accerlation Profile WORD T Curve S Curve Master Axis WORD 1~16 Non use = 0 Interpolation 1 WORD 1~16 Non use = 0 Interpolation 2 WORD 1~16 Non use = 0 Interpolation 3 WORD 1~16 Non use = 0 Target Position DWORD...
Page 98 Chapter 6 Ladder Motion Commands Unit WORD inch Decimal Point WORD 1000: 1 100: 0.1 10: 0.01 1: 0.001 Pulse/Revolution DWORD Precision: Decimal Place Unit/Revolution DWORD Precision: Decimal Place Velocity Unit DWORD PLS/Sec PLS/min Velocity Gain DWORD Precision: 0.001 R+10 Start Velocity DWORD Precision: Decimal Place...
Page 99 Chapter 6 Ladder Motion Commands 104. Forward- Rising Trigger 105. Backward-Rising Trigger 106. Z Signal-Backward-Rising Trigger 107. Z Signal-Backward-Falling Trigger Homing IO Source WORD From Servo Driver R+45 From PLC Homing Start WORD Negative R+46 Direction Positive Homing Origin DWORD Precision: Decimal Place R+47 Offset...
Page 100 Chapter 6 Ladder Motion Commands method R+16 Main clutch DWORD Precision: Decimal Place output axis phase default value R+18 Auxiliary clutch DWORD Precision: Decimal Place output axis phase default value R+20 Reserve DWORD R+22 Cam input axis DWORD Precision: Decimal Place phase default value R+24...
Page 101 Chapter 6 Ladder Motion Commands coordinate transformation numerator R+48 Aux Axis DWORD coordinate transformation denominator R+50 Master Axis DWORD Precision: Decimal Place compensation command value R+52 Master Axis WORD compensation change mode R+53 Master Axis DWORD compensation change time R+55 Aux Axis DWORD Precision: Decimal Place...
Page 102 Chapter 6 Ladder Motion Commands method R+91 Reserve WORD R+92 Main clutch OFF WORD sliding curve R+93 Reserve DWORD R+95 Main clutch OFF DWORD sliding time R+97 Aux clutch ON WORD condition R+98 Aux clutch ON DWORD Precision: Decimal Place setting value R+100 Aux clutch ON...
Page 103 Chapter 6 Ladder Motion Commands R+143 Output filter time DWORD constant R+145-149 Reserve Program Example Ladder 1-44 M-Series PLC Motion User Manual...
Page 104 Chapter 6 Ladder Motion Commands When M1000 is from OFF to ON, write all recipe tables from R1000. ⚫ 1-45 M-Series PLC Motion User Manual...
Page 105 Chapter 6 Ladder Motion Commands 6-15 Fun191 Read Motion Control Cam Fun191 Fun191 Read Motion Control Cam MFSysCAMR MFSysCAMR Command Description Ladder Symbol Operands Md: Mode D: Initial Cam Register ID: Cam Number L: Cam Resolution Relay and Register R34768 R35024 R35280 R43224...
Page 106 Chapter 6 Ladder Motion Commands ⚫ Operands Md (Mode): 0 uses PLC Register , 1 gets data from the SD card D (Initial Cam Register): Md = 0 The initial address of the register to be stored after reading the Cam , Md = 1 SD card recipe file number ID (Cam Number): Cam number L (Cam Resolution): The length of the register to be stored after reading the Cam ⚫...
Page 107 Chapter 6 Ladder Motion Commands When M1000 is from OFF→ON, 讀取凸輪 ID:1 資料表 2048 個存放至 DR1000~DR5094。 ⚫ 1-48 M-Series PLC Motion User Manual...
Page 108 Chapter 6 Ladder Motion Commands 6-16 Fun192 Write Motion Control Cam Fun192 Fun192 Write Motion Control Cam MFSysCAMW MFSysCAMW Symbol Ladder Symbol Operands Md: Mode D: C Initial am Address ID: Cam Number L: Cam Resolution Relay and Register R34768 R35024 R35280 R43224...
Page 109 Chapter 6 Ladder Motion Commands ⚫ Operands Md (Mode): 0 use PLC register , 1 gets data from the SD card D (Initial Cam Register): Md = 0 Write the initial address of the initial register of the cam , Md = 1 SD card recipe file number ID (Cam Number): Cam number L (Cam Resolution): The initial length of the register written to the cam...
Page 110 Chapter 6 Ladder Motion Commands When M1000 is from OFF to ON, 從 DR1000~DR5094 寫入凸輪 ID:1 資料表 2048 個。 ⚫ 1-51 M-Series PLC Motion User Manual...
Page 111 Chapter 6 Ladder Motion Commands 6-17 Fun193 EtherCAT Handwheel (MFGearMPG) Fun193 Fun193 EtherCAT Handwheel MFGearMPG MFGearMPG 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 R34768...
Page 112 Chapter 6 Ladder Motion Commands ⚫ When the execution control [EN] changes from 0→1, Fun193 uses the current parameters to start the synchronous control of the handwheel position ⚫ When the execution control [EN] changes from 1 to 0, Fun193 stops the synchronous control of the handwheel position and resets all output indications ⚫...
Page 113 Chapter 6 Ladder Motion Commands 6-18 Fun194 Velocity Control (MFVelCtl) Fun194 Fun194 Velocity Control Mode MFVelCtl MFVelCtl Command Description Ladder Symbol Operands S: EtherCAT Velocity Control Axis V: Velocity MX: Max. Torque Limit Relay and Register R34768 R35024 R35280 R43224 V, Z ∣...
Page 114 Chapter 6 Ladder Motion Commands ⚫ 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 speed setting value, 0 equals no limit, unit 0.0% ⚫...
Page 115 Chapter 6 Ladder Motion Commands ⚫ 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. 1-56 M-Series PLC Motion User Manual...
Page 116 Chapter 6 Ladder Motion Commands 6-19 Fun195 Torque Control (MFTorqCtl) Fun195 Fun195 Torque Control Mode MFTorqCtl MFTorqCtl Command Description Ladder Symbol Operands S: EtherCAT Torque Control Axis T: Set Torque MX: Max. Speed Limit Relay and Register R34768 R35024 R35280 R43224 V, Z ∣...
Page 117 Chapter 6 Ladder Motion Commands ⚫ Operands S (Torque Control Axis): EtherCAT_ Axis Number 1-16 T (Torque): Torque setting value, unit: 0.0% MX (Maximum Speed Limit): The maximum speed limit when the torque cannot reach the torque setting value, 0 equals no limit, the unit is rpm. ⚫...
Page 118 Chapter 6 Ladder Motion Commands ⚫ 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. After the parameter update is completed, the output indication M1004 [UPD] ON, and will double the torque. 1-59 M-Series PLC Motion User Manual...
Page 119 Chapter 6 Ladder Motion Commands 6-20 Fun197 Single Axis Positioning(MFAxMov) Fun197 Fun197 Single Axis Positioning MFAxMov MFAxMov Command Description Ladder Symbol Operands S: EtherCAT Control Axis 197P. MFAxMov Execution Control MD: Opearating Mode ACT Acting ████ PS: Target Position V: Velocity ████...
Page 120 Chapter 6 Ladder Motion Commands ⚫ Operands S (EtherCAT Control Axis): EtherCAT_Axis No.1-16 MD (Operating Mode): 0 Absolute, 1 Relative, 2 Infinite distance mode PS )Target Position): Positive and negative numbers, including the [Decimal Point Position] of the [Motion Axis Setting] in [Motion Control]. ([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].
Page 121 Chapter 6 Ladder Motion Commands ⚫ When M1000 is from OFF→ON, according to the current Fun197 parameters (S: EtherCAT axis 1, MD: Relative position, PS: Move to 10.000mm, V: Velocity 1.000mm/s, A: Acceleration 100.000 mm/s , D: Deceleration 100.000 mm/s , SA: S Acceleration Curve 0.0%, SD: S Deceleration Curve 0.0%, DR: Forward Direction, BF: Execute current command immediately) to execute position control.
Page 122 Chapter 6 Ladder Motion Commands ⚫ Operands ID (Cam No.): 1-16 Md (Cam Generating Mode): 0 same as the cam table, 2 teccentric shaf D (Register Starting Address): Set starting register of the Cam L (Cam Curve Stage No.): Only Mode 0 has the setting of each stage of the Cam, and other modes do not need to be set.
Page 123 Chapter 6 Ladder Motion Commands 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 124 Chapter 6 Ladder Motion Commands 6-22 Fun198 Set Mapping Table (MFMapTbPrm) Fun198 Fun198 Set Mapping Table MFMapTbPrm MFMapTbPrm Command Description Ladder Symbol Operands Gp: Mapping Table Group No. N: Mapping Starting Table No. L: Consecutive Mapping Length Relay and Register R34768 R35024 R35280...
Page 125 Chapter 6 Ladder Motion Commands ⚫ Operands Gp (Mapping Table Groups No.): Group 1-16, 0 means all groups. N (Mapping Table Starting Table No.): Mapping table number 1-1024, 0 means the entire mapping table. L (Consecutive Mapping Length): Number of consecutive mapping items, 0 means mapping to the last item in the page.
Page 126 Chapter 6 Ladder Motion Commands ⚫ 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). It can be seen from the motion axis setting table that the JOG speed has been modified to 2.000��/��...
Page 127 Chapter 7 Introduction of Motion Flow Introduction of Motion Flow Using Motion Flow ................錯誤! 尚未定義書籤。 Start Motion Flow ................錯誤! 尚未定義書籤。 Select Branch ..................錯誤! 尚未定義書籤。 Parallel Branch .................. 錯誤! 尚未定義書籤。 Merge ....................錯誤! 尚未定義書籤。 Origin Return ..................錯誤! 尚未定義書籤。 Positioning ..................
Page 128 Chapter 7 Introduction of Motion Flow Calculate ................... 錯誤! 尚未定義書籤。 7-14 End ....................錯誤! 尚未定義書籤。 7-15 M-Series PLC Motion User Manual...
Page 129 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 130 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 131 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 132 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 133 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 134 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 135 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 136 Chapter 7 Introduction of Motion Flow 1-10 M-Series PLC Motion User Manual...
Page 137 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 138 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 139 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 140 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 141 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 142 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 143 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 144 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. 1-18 M-Series PLC Motion User Manual...
Page 145 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 146 Chapter 8 Positioning control and interpolation Position Control and Interpolation ........... 錯誤! 尚未定義書籤。 Using M-PLC Position Control Flow ............錯誤! 尚未定義書籤。 Using Ladder Position Control ............錯誤! 尚未定義書籤。 Using Motion Flow Positioning ..........錯誤! 尚未定義書籤。 Description of Multi-axis Interpolation ................錯誤! 尚未定義書籤。 Linear Interpolation ................
Page 147 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 148 Chapter 8 Positioning control and interpolation 8-2 Using Ladder Position Control 8-2-1 HOME Return (MFHome) FUN 178 FUN 178 HOME Return (MFHome) MFHome MFHome Command Description AX ： Axis No. to execute HOME Return EN ： = 1, indicates that a HOME Return is to be performed ACT ：...
Page 149 Chapter 8 Positioning control and interpolation FUN178P FUN178P HOME Return (MFHome) MFHome MFHome 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 150 Chapter 8 Positioning control and interpolation FUN178P FUN178P HOME Return (MFHome) MFHome MFHome Program Example The program and action description are shown in the figure below: Limit(+ Homing Deceleration Homing find velocity Starting Homing creep velocity point Home 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 151 Chapter 8 Positioning control and interpolation 8-2-2 Position Control (MFPointMov) Fun179P Fun179P Position Control (MFPointMov) MFPointMov MFPointMov 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 152 Chapter 8 Positioning control and interpolation Fun179P Fun179P Position Control (MFPointMov) MFPointMov MFPointMov 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 153 Chapter 8 Positioning control and interpolation 8-2-3 JOG (MFJog) Fun 180 Fun 180 JOG (MFJog) MFJog MFJog 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 154 Chapter 8 Positioning control and interpolation Fun180 Fun180 JOG (MFJog) MFJog MFJog 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 155 Chapter 8 Positioning control and interpolation Fun180 Fun180 JOG (MFJog) MFJog MFJog Program Example The program and action description are shown in the figure below: Speed Jogging velocity Jogging Jogging Acceleration Deceleration Jog distance Jogging base velocity time ⚫ 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 156 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 157 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 158 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 159 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 160 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 161 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 162 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 163 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 164 Chapter 8 Positioning control and interpolation 1-19 M-Series PLC Motion User Manual...
Page 165 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 166 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 167 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 168 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 169 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 170 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 171 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 172 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 173 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 174 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 175 Chapter 8 Positioning control and interpolation 1-30 M-Series PLC Motion User Manual...
Page 176 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 177 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 178 Chapter 9 Motion Parameter Mapping Table Motion Parameter Mapping Table ......錯誤! 尚未定義書籤。 Introduction of Motion Parameter Mapping Table ....... 錯誤! 尚未定義書籤。 Motion Parameter Mapping Table Using Method ................錯誤! 尚未定義書籤。 Precautions for Use M-Series PLC Motion User Manual...
Page 179 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 MFMapTbPrm.
Page 180 Chapter 9 Motion Parameter Mapping Table Motion Parameter Group Dynamically Modifiable Item Modified Item Position Following Error Window Following Error Timeout 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...
Page 181 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 182 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 183 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 184 Chapter 9 Motion Parameter Mapping Table Uperlogic Motion Parameter Mapping Table is shown below: Mapping table operation bit usage timing: 1. When the FUN198 MFMapTbPrm 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 185 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 186 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 187 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 188 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 189 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 Action Description...
Page 190 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 191 Chapter 10 HOME return The zero starting point is within the DOG sensor. a. Move to the right limit direction at the Homing Creep Velocity. b. The moment the signal is sensed away from Zero, this point is the Machine Zero Position. M-Series PLC Motion User Manual...
Page 192 Chapter 10 HOME return 10-2 Mode 101: Backward-Falling Trigger Action Description The zero starting point is located to the left of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the Zero sensing signal, the speed decreases to the Homing Creep Velocity and then move forward reversely.
Page 193 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 194 Chapter 10 HOME return 10-3 Mode 102: Z Signal-Forward-Rising Trigger Action Description The zero starting point is located to the left of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b.
Page 195 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 196 Chapter 10 HOME return Action Description The zero starting point is within the DOG sensor. Homing Z Count = 3. a. Move to the left limit direction at the Homing Creep Velocity. b. When departing from Zero sensing signal, reverse search for the Zero sensing signal at the Homing Creep Velocity.
Page 197 Chapter 10 HOME return 10-4 Mode 103: Z Signal-Forward-Falling Trigger Action Description The zero starting point is located to the left of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b.
Page 198 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 199 Chapter 10 HOME return Action Description The zero starting point is within the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Creep Velocity. b. When the signal is sensed away from Zero, start counting the Z-phase signal c.
Page 200 Chapter 10 HOME return 10-5 Mode 104: Forward-Rising Trigger Action Description The zero starting point is located to the left of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the Zero sensing signal, the speed decreases to the Homing Creep Velocity and then move forward reversely.
Page 201 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 202 Chapter 10 HOME return Action Description The zero starting point is within the DOG sensor. a. Move to the left limit direction at the Homing Creep Velocity. b. When departing from Zero sensing signal, reverse search for the Zero sensing signal at the Homing Creep Velocity.
Page 203 Chapter 10 HOME return 10-6 Mode 105: Backward-Rising Trigger Action Description The zero starting point is located to the left of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the Zero sensing signal, the speed decreases to the Homing Creep Velocity and continue to move forward.
Page 204 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 205 Chapter 10 HOME return Action Description The zero starting point is within the DOG sensor. a. Move to the right limit direction at the Homing Creep Velocity. b. When departing from Zero sensing signal, reverse search for the Zero sensing signal at the Homing Creep Velocity.
Page 206 Chapter 10 HOME return 10-7 Mode 106: Z Signal-Backward-Rising Trigger Action Description The zero starting point is located to the left of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b.
Page 207 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 208 Chapter 10 HOME return Action Description The zero starting point is within the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Creep Velocity. b. When departing from Zero sensing signal, reverse search for the Zero sensing signal at the Homing Creep Velocity.
Page 209 Chapter 10 HOME return 10-8 Mode 107: Z Signal-Backward-Falling Trigger Action Description The zero starting point is located to the left of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b.
Page 210 Chapter 10 HOME return Action Description The zero starting point is located to the right of the DOG sensor. Homing Z Count = 3. a. Move to the right limit direction at the Homing Find Velocity. b. When encountering the right limit, move in the opposite direction towards the left limit. c.
Page 211 Chapter 10 HOME return Action Description The zero starting point is within the DOG sensor. Homing Z Count = 3. a. Move to the left limit direction at the Homing Creep Velocity. b. When the signal is sensed away from Zero, start counting the Z-phase signal c.
Page 212 Chapter 10 HOME return 10-9 The Situation of Insufficient Deceleration. DOG Sensor detects a distance that is too short or insufficient deceleration, which may result in the speed not decreasing to the Homing Creep Velocity before leaving the Zero sensing signal. This means that the Homing may not be completed at this point.
Page 213 Chapter 10 HOME return Action Description If user wish to skip steps d~f in the previous diagram, activate special register M10629 (High speed homing mode ON) The zero starting point is located to the left of the DOG sensor. a. Move to the right limit direction at the Homing Find Velocity. b.
Page 214 Chapter 10 HOME return 10-10 Description of HOME Return Related Parameters ⚫ HOME return ➢ Definition: Executing the HOME return ➢ Fun178P. MFHome EN = 1: Rising edge triggers HOME return ACT = 1: HOME return is running ERR = 1: HOME return error DN = HOME return is done ➢...
Page 215 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 216 Chapter 11 JOG Mode JOG Mode ..................錯誤! 尚未定義書籤。 11-1 JOG Mode 0 ..................錯誤! 尚未定義書籤。 11-2 JOG Mode 1 ..................錯誤! 尚未定義書籤。 11-3 JOG Mode 2 ..................錯誤! 尚未定義書籤。 11-4 JOG Mode 3 M-Series PLC Motion User Manual...
Page 217 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 MFJog will be described below, and users can also learn about this Function through chapters 6-8. Fun180.
Page 218 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 219 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 220 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 221 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 222 Chapter 13 Hand Wheel Mode Test Run ................錯誤! 尚未定義書籤。 Starting 12-1 Test Run Description of Motion Test Run ............錯誤! 尚未定義書籤。 12-2 ........... 錯誤! 尚未定義書籤。 12-3 Description of Test Run Position Control ........... 錯誤! 尚未定義書籤。 Descriptoin of 12-4 Test Run Velocity Control ..........
Page 223 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 224 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 225 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 226 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 227 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 228 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 229 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 230 Chapter 13 Hand Wheel Mode Hand Wheel Mode M-Series PLC Motion User Manual...
Page 231 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 232 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 233 Chapter 14 Speed control and torque control Speed Control and Torque Control ................... 錯誤! 尚未定義書籤。 14-1 Speed Control .................. 錯誤! 尚未定義書籤。 14-2 Torque Control M-Series PLC Motion User Manual...
Page 234 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 235 Chapter 14 Speed control and torque control repeated). Axis Axis to execute speed control Speed Speed to execute speed control, the speed command can be Command entered with a minus sign, which means reverse rotation. (unit is command position/second). Torque If the torque limit is set to 100, the servo torque limit will be Limit 10%, if it is set to 0, it will not be limited.
Page 236 Chapter 14 Speed control and torque control The following will introduce the control methods of the ladder diagram and the motion flow chart respectively. 2. Control through the flow chart. If the user wants to use the ladder diagram control, please skip to step 3.
Page 237 Chapter 14 Speed control and torque control 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 238 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 239 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 240 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 241 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 242 Chapter 15 Synchronous Control, Flying Cut Synchronous Control, Flying Cut (Synchronization Function Parameter Table/Electronic Cam Setting) ............錯誤! 尚未定義書籤。 15-1 What is synchronous control? ..........錯誤! 尚未定義書籤。 15-2 Synchronous Parameter Setting Group ..........錯誤! 尚未定義書籤。 15-3 Introduction of Synchronous Parameter ..............
Page 243 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 244 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 245 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 246 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 247 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 248 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 249 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 flow.
Page 250 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 251 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 252 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 253 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 254 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 255 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 256 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 257 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 258 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 259 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 260 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 261 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 262 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 263 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 264 Chapter 17 Motion Alarm List Motion Alarm List ................錯誤! 尚未定義書籤。 16-1 Motion Flow Alarm ..........錯誤! 尚未定義書籤。 16-2 EtherCAT Communication Error Alarm ................錯誤! 尚未定義書籤。 16-3 Action Axis Alarm M-Series PLC Motion User Manual...
Page 265 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 266 Chapter 17 Motion Alarm List Motion Flow action Driver alarm detected when Remove the problem Stop the axis axis driver alarm the Flow is running. according to Driver Manual. Motion Flow action Computation error detected Recheck the parameter set for Stop instantly error when the Flow is running.
Page 267 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: Motion controller status R36880 R36881 Description cause Solution STATUS_CODE_LINK_LOST EtherCAT The EtherCAT...
Page 268 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 269 Chapter 17 Motion Alarm List limit target position coordinate. AXIS_NEG_SW_LI Current flow Action axis Action axis 1. Check the axis block number negative reaches table setting. software limit negative 2. Check the software limit target position coordinate. AXIS_POS_LS Current flow Action axis Positive limit 1.
Page 270 Chapter 17 Motion Alarm List set in the axis table. AXIS_OCCUPIED Current flow Axis is in use. The called axis is 1. Ensure to wait block number currently in for the control. completion of the previous action." 2. Check if the same command is called repeatedly.
Page 271 Chapter 17 Motion Alarm List is too slow. 2. Increase the pos don tolerance in the axis table. 3. Increase the pos don check time in the axis table. FLOW_POS_CHG Current flow Positioning Positioning Interrupt _WRONG_TYPE block number control control is using constant feed and interruption an incorrect...
Page 272 Chapter 17 Motion Alarm List the mapping parameters from the manual. AXIS_POS_ACCPE Current flow Point table Mapping illegal 1. Confirm the block number parameter S- values. correct range curve from the PLC acceleration software. error. 2. Confirm the correct data length and sign of the mapping parameters from...
Page 273 Chapter 17 Motion Alarm List 2. Confirm the correct data length and sign of the mapping parameters from the manual. AXIS_POS_NEXTP Current flow Point table Mapping illegal 1. Confirm the OINT block number parameter values. correct range continuous from the PLC point number software.
Page 274 Chapter 17 Motion Alarm List block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual. AXIS_SYNC_FRAC Current flow Sync Mapping illegal 1. Confirm the TION block number parameter...
Page 275 Chapter 17 Motion Alarm List parameters from the manual. AXIS_SYNC_IN1_E Current flow Sync Mapping illegal 1. Confirm the XTNUM block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual.
Page 276 Chapter 17 Motion Alarm List correct data length and sign of the mapping parameters from the manual. AXIS_SYNC_IN2_T Current flow Sync Mapping illegal 1. Confirm the block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping...
Page 277 Chapter 17 Motion Alarm List table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual. AXIS_SYNC_IN2_T Current flow Sync Mapping illegal 1. Confirm the RANS_DEN block number parameter values.
Page 278 Chapter 17 Motion Alarm List the manual. AXIS_SYNC_INA_ Current flow Sync Mapping illegal 1. Confirm the REVERSE block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual.
Page 279 Chapter 17 Motion Alarm List length and sign of the mapping parameters from the manual. AXIS_SYNC_GEAR Current flow Sync Mapping illegal 1. Confirm the _DEN block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping...
Page 280 Chapter 17 Motion Alarm List configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual. AXIS_SYNC_MCL Current flow Sync Mapping illegal 1. Confirm the UTCH_ON_SLIDE_ block number parameter values. correct range CURVE table from the PLC configuration...
Page 281 Chapter 17 Motion Alarm List AXIS_SYNC_MCL Current flow Sync Mapping illegal 1. Confirm the UTCH_OFF_SLIDE block number parameter values. correct range _CURVE table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual.
Page 282 Chapter 17 Motion Alarm List the mapping parameters from the manual. AXIS_SYNC_ACLU Current flow Sync Mapping illegal 1. Confirm the TCH_OFF_COND block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual.
Page 283 Chapter 17 Motion Alarm List error. 2. Confirm the correct data length and sign of the mapping parameters from the manual. AXIS_SYNC_TCLU Current flow Sync Mapping illegal 1. Confirm the TCH_CON_METH block number parameter values. correct range table from the PLC configuration software.
Page 284 Chapter 17 Motion Alarm List ACT_NUM block number parameter values. correct range table from the PLC configuration software. error. 2. Confirm the correct data length and sign of the mapping parameters from the manual. AXIS_SYNC_PERI Current flow Sync Mapping illegal 1.
Page 285 Chapter 17 Motion Alarm List parameters from the manual. AXIS_DATA_VELU Current flow Motion axis Mapping illegal 1. Confirm the block number parameter values. correct range table from the PLC configuration software.2. error. Confirm the correct data length and sign of the mapping parameters from the manual.
Page 286 Chapter 17 Motion Alarm List correct data length and sign of the mapping parameters from the manual. AXIS_DATA_HOM Current flow Motion axis Mapping illegal 1. Confirm the EDIR block number parameter values. correct range table from the PLC configuration software.2. error.
Page 287 Chapter 17 Motion Alarm List and sync control other factors stop. causing the error. AXIS_MAPPING_E Error mapping Mapping Parameter out Confirm the RROR table number parameter of range in correct mapping error mapping table parameter or function 181. number from the manual.
Page 288 Chapter 17 Motion Alarm List block number deceleration while in axis logic is correct. stop control. 2. Reset axis to clear the error. 1-25 M-Series PLC Motion User Manual...
Page 289 Amendment record Motion Probe ................... 錯誤! 尚未定義書籤。 17-1 Probe Number ..................錯誤! 尚未定義書籤。 17-2 Probe Mode ............錯誤! 尚未定義書籤。 17-3 Information of Probe Register M-Series PLC Motion User Manual...
Page 290 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 291 Amendment record Motion Example Application Interrupt Constant Feed ..............錯誤! 尚未定義書籤。 18-1 6 軸噴塗機 ..................錯誤! 尚未定義書籤。10 18-2 VFFS 垂直填料包裝機 ..............錯誤! 尚未定義書籤。19 18-3 M-Series PLC Motion User Manual...
Page 292 Amendment record 18-1 Interrupt Constant Feed 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 293 Amendment record 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 9000deg/s.
Page 294 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 295 Amendment record Flow control of the case is as follows: M-Series PLC Motion User Manual...
Page 296 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 297 Amendment record Among them, you need to double-click the positioning control box twice to set the change behavior, change the change behavior to “Interrupt Constant Angle”, 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 298 Amendment record Fig. 4: Ladder diagram of speed triggered switch button M-Series PLC Motion User Manual...
Page 299 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 MFChgTbPrm, 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 300 Amendment record 18-2 6-axis Spraying Machine Mechanic Structure The 6-axis bus spraying machine 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).
Page 301 Amendment record 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. The R axis is responsible for the rotating parallel to the spraying gun.
Page 302 Amendment record Control Flow of the 6-axis bus spraying machine is sjown below: Program Design Ordinary Plane Spraying 6-axis bus spraying machine 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 303 Amendment record Side-surface constant Side-surface inching Axis-P constant YZ reciprocating mode speed mode mode speed mode Plane constant speed Plane inching mode Transition mode mode Front-back Linear reciprocating mode reciprocating mode Vertical reciprocating mode Schematic diagram of ordinary plane spraying mode The motion trajectory of the 6-axis bus spraying machine 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 304 Amendment record Fig. 1: Table of motion control points of 6-axis bus spraying machine Fig. 2: Part of the program of the motion control trajectory of the 6-axis bus spraying machine M-Series PLC Motion User Manual...
Page 305 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 306 Amendment record Fig. 5: Motion track setting form of 6-axis bus spraying machine M-Series PLC Motion User Manual...
Page 307 Amendment record After the 6-axis bus spraying machine 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 308 Amendment record trajectory Fig 6: Demonstration of spiral interpolation trajectory Fig. 6-2: 6-axis bus spiral interpolation program control M-Series PLC Motion User Manual...
Page 309 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 310 Amendment record Fig. 8: 6-axis bus 3-axis space arc interpolation trajectory M-Series PLC Motion User Manual...
Page 311 Amendment record 18-3 VFFS Vertical Form Fill Seal machine 【Example 1】VFFS machine 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 312 Amendment record Stepping Ladder Diagram Server initialize Ready signal Sealing Machine Homing Sealing Machine Homing complete signal Start Synchronous action Axis_5 Jog and Axes 1~ 4 Sync signal Reference Reference Axis 1 Axis 2 Stop Reset error CAM Curve ① CAM Curve ②...
Page 313 Amendment record CAM Curve ③ M-Series PLC Motion User Manual...
Page 314 Amendment record Time Order Chart Reference Axis Axis_2 Current coordinate Axis_3 Current coordinate Axis_4 Current coordinate Monitoring chart during actual operation M-Series PLC Motion User Manual...
Page 315 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 316 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 317 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 318 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 319 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 320 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 321 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 322 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 323 Amendment record 3. Setting E-CAM Stroke The figure below shows the CAM settings of each axis M-Series PLC Motion User Manual...
Page 324 Amendment record 4. Motion Axis Setting Reference M-Series PLC Motion User Manual...

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