Cimon PLC-S Manuale utente

Positioning User Manual

Table of Contents

1. Positioning....................................................................................................................................3

1.1 General.......................................................................................................................... 3

1.2 Output Pulse Level ........................................................................................................ 4

1.3 External Signal Wiring ................................................................................................... 5

1.3.1 PLC-S CPU IO Pin................................................................................................................. 5

1.3.2 PLC-S CPU Positioning IO Pin.............................................................................................. 5

1.4 Specifications ................................................................................................................ 7

1.4.1 Performance Specifications ............................................................................................... 7

1.4.2 Input Signal Specifications.................................................................................................. 7

1.5 Positioning Parameter .................................................................................................. 8

1.5.1 Select Pulse Output (ADDRESS “0”) .................................................................................. 9

1.5.2 Bias Speed (ADDRESS “1-2”) ............................................................................................ 10

1.5.3 Speed Limit (ADDRESS “3-4”) .......................................................................................... 10

1.5.4 Acceleration/Deceleration Time (ADDRESS “5-8”) .......................................................... 10

1.5.5 Software Upper/Lower Limit (ADDRESS “9-10”for Upper/ “11-12” for Lower) ............. 11

1.5.6 Position Indication of the Speed Control (ADDRESS “13”) .............................................. 12

1.5.7 Backlash Compensation (ADDRESS “14”) ........................................................................ 12

1.5.8 Use External Upper/Lower Limit Input (ADDRESS “15”) ................................................. 13

1.5.9 Jog Speed Limit (ADDRESS “16-17”) ................................................................................ 13

1.5.10 Jog Acceleration/Deceleration Time (ADDRESS “18”) ................................................... 13

1.5.11 Inching Speed (ADDRESS “19”) ...................................................................................... 13

1.5.12 Origin Point Return Method (ADDRESS “21”) ............................................................... 14

1.5.13 Origin Point Return Direction (ADDRESS “22”) ............................................................. 17

1.5.14 Origin Point Address (ADDRESS “23-24”) ...................................................................... 17

1.5.15 Origin Point Return High Speed (ADDRESS “25-26”) ..................................................... 17

1.5.16 Origin Point Return Low Speed (ADDRESS “27-28”) ...................................................... 17

1.5.17 Origin Point Return Acceleration/Deceleration Time (ADDRESS “29”) ......................... 17

Positioning User Manual

1.5.18 DWELL (ADDRESS “30”) ................................................................................................. 17

1.6 Operation Data ........................................................................................................... 18

1.6.1 Enable/Disable Axis .......................................................................................................... 19

1.6.2 Deceleration Stop Request............................................................................................... 19

1.6.3 Emergency Stop Request.................................................................................................. 19

1.6.4 Forward/Backward JOG / Inching ON .............................................................................. 19

1.6.5 Positioning Completed ..................................................................................................... 20

1.6.6 OPR Completed ................................................................................................................ 20

1.6.7 Forward/Backward Rotation ............................................................................................ 20

1.6.8 Disable Pulse Output ........................................................................................................ 20

1.6.9 Error.................................................................................................................................. 20

1.7 Positioning Data .......................................................................................................... 21

1.7.1 Control Pattern ................................................................................................................ 22

1.7.2 Specify the Target Axis of Interpolation .......................................................................... 23

1.7.3 Acceleration Time / Deceleration Time Number ............................................................. 23

1.7.4 Control Code..................................................................................................................... 24

1.8 Positioning Instruction ................................................................................................ 32

1.8.1 PSTRTn (n=1~2)................................................................................................................ 32

1.8.2 POSCTRL ........................................................................................................................... 33

1.8.3 TEACHn (n=1~2) ............................................................................................................... 39

1.9 Error Code ................................................................................................................... 41

1.10 CICON Configuration and Use................................................................................... 43

1.10.1 Register the PLC-S Positioning Special Program ............................................................ 43

1.10.2 Configure the PLC-S Positioning Special Program .......................................................... 44

1.11 Positioning Control Usage Examples ........................................................................ 49

1.11.1 Positioning Example Using Scan Program ...................................................................... 49

1.11.2 Positioning Example Using Positioning Data.................................................................. 54

1.11.3 Positioning Example Using OPR...................................................................................... 56

Positioning User Manual

1. Positioning

1.1 General

The built-in positioning function of PLC-S CPU is NPN OPEN Collector type which outputs pulse train.

By using the positioning module, positioning control is executed by stepping motor or servo motor.

The Number of Control Axis

The number of control axes for positioning function is equal to the number of motors to be controlled.

PLC-S executes the two-axis positioning control and supports linear interpolation.

①1-Axis Linear Control (X axis or Y axis)

②2-Axis Linear Interpolation Control

Positioning User Manual

Positioning Instruction

PLC-S is equipped with dedicated commands for positioning and thus enables easy control.

Manual Operation

Manual operation is made possible by JOG operation, Inching operation and general purpose Manual

Pulse Generator (MPG).

OPR Control

PLC-S provides three OPR control methods: DOG/Zero OFF, DOG/Zero ON, and near-point DOG.

1.2 Output Pulse Level

The direction of position control is determined by configuring the ‘High Active’ or ‘Low Active’ mode in a

scan program or special program.

Positioning User Manual

1.3 External Signal Wiring

1.3.1 PLC-S CPU I/O Pin

Input and output connectors of PLC-S CPU are structured as follows.

1.3.2 PLC-S CPU Positioning I/O Pin

Input signals and internal circuit of PLC-S CPU positioning pin are as follows.

Input Signals

X Axis

Y Axis

X07

Ext. Lower Limit (B contact)

X08

Ext. Upper Limit (B contact)

X09

N/A

X0A

Ext. Lower Limit (B contact)

X0B

Ext. Upper Limit (B contact)

X0C

DOG (A contact)

X0D

Zero (A contact)

X0E

DOG (A contact)

X0F

Zero (A contact)

COM

Input Common

Positioning User Manual

a) Wiring and Internal Circuit of Input Signal

In case of using ‘X Axis’ only, X0A, X0B, X0E, X0F can be used as digital input and output pins.

In case of using ‘Y Axis’ only, X07, X08, X0C, X0D can be used as digital input and output pins.

Output signals and internal circuit of PLC-S CPU positioning pin are as follows.

Output Signal

X Axis

Y Axis

Y010

Pulse Output

Y011

Direction Output

Y012

Pulse Output

Y013

Direction Output

DC24V

Output Common (+)

COM

Output Common (-)

b) Internal Circuit of Output Signal

When controlling only the X-Axis, Y012 and Y013 can be used as digital input and output pins.

When controlling only the Y-Axis, Y010 and Y011 can be used as digital input and output pins.

Positioning User Manual

1.4 Specifications

1.4.1 Performance Specifications

The following describes the performance specifications of CIMON PLC-S built-in Positioning function.

Item

Specification

Number of Control Axis

2 Axes

Interpolation

2 Axes Linear Interpolation (Less than 5kpps)

Pulse Output Signal

Open Collector Type (DC24V)

Pulse Output Type

Pulse + Direction Output

Control Type

Position control, Speed control, Speed/Position switching,

Position/Speed switching

Control Unit

Pulse

Position Data

30 Position Data Per Axis (Operation step number : 1 .. 30)

How to Configure Position Data

CICON Special Program (Permanent auto preservation)

Positioning Monitor

Dedicated monitoring window provided by CICON

Back-Up

Parameter, operation data → Saved in Flash memory

Positioning Method

Absolute / Incremental

Position Address Range

-2,147,483,648 ~2,147,483,647 (Pulse)

Speed Range

1 ~100,000 pps (1 pps unit)

Acceleration/Deceleration Type

Trapezoid-shaped

Acceleration/Deceleration Time

0 ~100,000 mSec.

(Selectable from 4 types of acceleration/deceleration patterns)

Maximum Output Pulse (X-Axis)

Position Control / Speed Control: 100kpps

Maximum Output Pulse (Y-Axis)

Position Control: 5kpps, Speed Control: 100kpps

Maximum Connection Distance

1.4.2 Input and Output Signal Specifications

Item

Specification

Rated Input Voltage

24V DC (20.4V ~28.8V)

Rated Input Current

About 7 mA / 24V

Insulation type

Photo-coupler insulated

Input Impedance

About 3.3kΩ

On Voltage (Min.)

20.4V or above

Off Voltage (Max.)

6V or less

Response time

0.5mSec or less (Used for positioning)

Min. Input Width

100 µs or above

Ext. Upper Limit Input

X07 (X axis) / X0A (Y axis), B contact

Ext. Lower Limit Input

X08 (X axis) / X0B (Y axis), B contact

DOG Input

X0C (X axis) / X0E (Y axis), A contact

Zero Input

X0D (X axis) / X0F (Y axis), A contact

Positioning User Manual

1.5 Positioning Parameter

The following positioning parameters can be configured by using “Positioning for PLC-S” Special Program

in CICON. The configured parameters are saved in the same area (flash memory) as that of sequence

program and therefore will be preserved even after power is lost.

Offset

Item

Configuration Details

R/W

Remark

Default

Function

Select Pulse Output

0=Not Used

1=High Active

2=Low Active

Bias Speed

1 ~ 100,000 PPS

Low

High

Speed Limit

50,000

Low

High

Acceleration/Dec Time 1

1,000

1 ~ 65,535 mSec

Acceleration/Dec Time 2

Acceleration/Dec Time 3

Acceleration/Dec Time 4

S/W Upper Limit

2,147,483,647

-2,147,483,648 ~ 2,147,483,647

Low

High

S/W Lower Limit

-2,147,483,648

Low

High

Position address under speed control

0=Do not update

1=Update

2=Clear and update

Backlash Compensation

0 ~ 65,535 Pulse

Ext. Upper/Lower Limit Signal

0=Not Used, 1=Wired (Used)

Jog Speed Limit

20,000

1 ~ 100,000 PPS

(Bias Speed<Jog Speed<Speed Limit)

Low

High

Jog Acceleration/Dec Time

Number of Acc/Dec Time (0~3)

Inching Speed

100

0 ~ 65,535 PPS

Complete Output Signal Duration

1000

0 ~ 65,535 mSec

OPR Method

0=DOG / Zero OFF

1=DOG / Zero ON

2=DOG

OPR Direction

0=Forward, 1=Backward

Origin Address

-2,147,483,648 ~ 2,147,483,647

Low

High

OPR High Speed

50,000

1 ~ 100,000 PPS

Low

High

OPR Low Speed

1,000

1 ~ 100,000 PPS

Low

High

OPR Acceleration/Dec Time

Number of Acc/Dec Time (0~3)

DWELL Time

0 ~ 50,000 mSec.

Positioning User Manual

1.5.1 Select Pulse Output (Address “0”)

This parameter allows a user to configure and select which pulse output (High Active or Low Active)

modes to be used according to pulse input type of a servo or stepping motor driver connected with the

positioning module. It is also possible to configure and adjust the settings on the other side devices.

If a non-zero value is assigned for this parameter, pulse signal output is enabled and the signal type

(High Active or Low Active) can be selected.

If a zero (0) value is assigned, pulse signal output is disabled for the specific axis.

Positioning User Manual

1.5.2 Bias Speed (Address “1-2”)

Bias speed refers to the initial speed of the positioning operation.

Considering that torque of a stepping motor is unstable when its initial speed is almost at 0, the

initial speed (bias speed) has to be set during early operation in order to facilitate motor’s

rotation and to save positioning time.

Bias speed should not be entered over the selected speed limit value.

1.5.3 Speed Limit (Address “3-4”)

Speed Limit means the allowable maximum speed that can be set in the positioning operation.

Positioning operation speed cannot be configured greater than the value set as the Speed Limit.

1.5.4 Acceleration / Deceleration Time (Address “5-8”)

Acceleration Time: a duration required to reach from “0 (Stop)” speed to the max. Speed Limit.

Using bias would be a time consumed to reach from Bias Speed to the Speed Limit.

Deceleration Time: a duration required to reach from the Speed Limit down to “0 (Stop)” speed.

Using bias would be a time consumed to reach to Bias Speed configured in parameter.

The actual Acceleration / Deceleration Time can be calculated by the formula shown below.

T = V x Ta / (Vmax –Vbias)

(V = Target speed change, Ta = Acc/Dec time, Vmax = Speed Limit, Vbias = Bias Speed)

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