Version 1.
Thank you for buying the pulse output module (JW-12PS/14PS) for the Sharp Programmable Controller JW50H/ 70H/100H. This manual describes how to install and use the JW-12PS/14PS. Before you start to use the JW-12PS/14PS, be sure to thoroughly read this manual and fully understand its features and functions to ensure correct use. Be sure to store this manual in a safe place so that they can be easily retrieved whenever they are needed.
Safety Precautions Read this user's manual and the attached documents carefully before installing, operating, or performing any maintenance, in order to keep the machine working correctly. Make sure you understand all of the equipment details, safety information, and cautions before using this machine. In this user's manual, the safety precautions are divided into "Dangers" and "Cautions" as follows. Danger : Improper handling is likely to lead to death or serious injury.
Caution • Take special care to follow all safety guidelines if you are changing the parameters for the operating conditions or performing a "forced output," "run," or "stop" during operation. Misoperation may damage the machine or cause an accident. • Turn ON the power supplies in the specified sequence. Turning ON the supplies in the wrong order may lead to a machine breakdown or cause an accident. 4. Maintenance Prohibit • Do not disassemble or modify the pulse output module.
Precautions during Use Pay attention to the following precautions during use of this module (1) Installation site/storage Avoid installing or storing the pulse output module in the following locations: 1. Location subject to the direct sunlight 2. Locations outside of the ambient operating temperature range of 0 to 55°C and storage range of -20 to +70°C 3. Locations outside of the ambient relative humidity of 35 to 90% 4. Locations subject to sudden temperature changes that might cause condensation 5.
Plug for safety fence entrance Entrance door Receptacle for on-site work Portable plug (6) Static electricity In abnormally dry locations, excessive amounts of static electricity may be generated on the human body. To prevent adverse influence caused by static electricity, discharge any static electricity from the human body before touching or handling this unit by touching a grounded metallic object. (7) Cleaning Use a soft, dry cloth to clean the pulse output module.
Chapter 1 Features, System Configuration and Basic Functions Chapter 2 Specifications Chapter 3 Names and Functions of Parts Chapter 4 Installation and Connection Chapter 5 Data Transfer Chapter 6 Zero Return Chapter 7 Direct Operation Chapter 8 Program Operation Chapter 9 Closed Loop Control Chapter 10 Absolute System Chapter 11 Other Functions Chapter 12 Trial Operation Chapter 13 Troubleshooting Appendix
Contents Chapter 1 Features, System Configuration and Basic Functions •••••••••••• 1-1 to 1-11 1-1 Features, basic system configuration 1-1 1-2 Basic functions and general outline 1-2 [1] Position control 1-2 [2] Speed control 1-3 [3] Other functions 1-4 1-3 Principle of operation of control systems, simple design of a positioning system 1-6 [1] Principle of operation of control systems 1-6 [2] Simple design of a positioning system (method of converting position and speed to pulse) 1-7 (1) Linear operation
Chapter 5 Data Transfer ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5-1 to 5-63 5-1 Data transfer between this module and the JW50H/70H/100H control module 5-1 [1] Refresh area 5-1 [2] Block data 5-4 5-2 Operation data area 5-10 [1] Assignment of special I/O data area 5-10 (1) Input section (N+0000 to 0177) 5-10 (2) Output section (N+0200 to 0377) 5-11 [2] Description of functions 5-12 (1) Input section (PC←PS) 5-12 (2) Output section (PC→PS) 5-14 5-3 Parameters 5-18 [1] Parameter assi
Chapter 7 Direct operation •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 7-1 to 7-11 7-1 Explanation of direct operation 7-1 [1] Outline 7-1 [2] Startup of direct operation 7-1 [3] Data setup procedure in direct operation 7-2 [4] Operation by direct operation matched to operation data area 7-3 7-2 Setting data to be used for direct operation 7-3 [1] Axis parameters 7-3 [2] Operation relay 7-3 7-3 Basic operation of direct operation 7-4 [1] Position control operation 7-4 [2] Speed control op
9-5 Electronic gear setup methods and restrictions 9-7 [1] Restriction 1 when setting up the electronic gear 9-7 [2] Restriction 2 when setting up the electronic gear 9-8 [3] Details of electronic gear 9-8 Chapter 10 Absolute System •••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-1 to 10-6 [1] Parameters and operation data relating to absolute system 10-1 [2] Driver and motor that can configure an absolute system 10-1 [3] Absolute system setup procedure 10-2 [4] Reading absolute values 10-5 [
11-8 Clear error 11-18 [1] Outline of function 11-18 [2] Operation relay assignment 11-18 [3] Parameter settings 11-18 [4] Timing chart 11-19 11-9 Clear deviation output 11-20 11-10 Backlash compensation 11-21 [1] Outline of function 11-21 [2] Axis parameter settings 11-21 [3] Backlash compensation operation 11-21 [4] Backlash compensation at linear interpolation 11-22 11-11 General-purpose input 11-23 11-12 General-purpose output 11-24 Chapter 12 Trial Operation••••••••••••••••••••••••••••••••••••••••••••
Chapter 1 Features, System Configuration and Basic Functions The JW-12PS/14PS (simply called "this module" from here on) is the pulse output module for the programmable controller (simply called "PLC" from here on) JW50H/70H/100H. (The JW-12PS is for two axes, while the JW-14PS is for four axes.) The pulse train is output to a stepping motor driver or servo motor driver by instructions from the JW50H/ 70H/100H to achieve various positioning control.
1-2 Basic functions and general outline The following shows the basic functions of this module.
There are three positioning control modes "single-step positioning," "automatic positioning" and "continuous positioning" depending on the end pattern to be set to the step data. • Single-step positioning • Automatic positioning Pulse output Pulse output Step data No.0 Startup • Continuous positioning Step data No.0 Step data No.1 Step data No.0 Step data No.1 Time Step data No.1 Time Startup 1 Pulse output Startup Time Startup Stops after time preset to dwell timer has elapsed.
[3] Other functions (2) Jog operation This function is the operation of starting up and stopping travel on a specified axis at a specified speed. (3) Teaching This function is the operation of loading the present position to specified position data. Origin Present position ↑ 1 (1) Zero return This function determines the origin of a specified axis. CCW CW Specified position data No.
(8) Deceleration stop This function causes operation to decelerate and come to a stop according to the deceleration stop instruction. 1 Deceleration stop Pulse output Time (9) Move origin This function returns the axes to a preset origin. • This function is enabled only when the origin has been confirmed.
1-3 Principle of operation of control systems, simple design of a positioning system [1] Principle of operation of control systems This module adopts a pulse output type open loop control system. "Open loop control" is a system where control is performed without positional feedback on the assumption that the motor operates according to given input pulses. Stepping motors are often used in this control system. Stepping motors rotate for the predetermined angle each time that a pulse signal is given.
[2] Simple design of a positioning system (method of converting position and speed to pulse) (1) Linear operation The following describes linear operation by positioning such as below a stepping motor.
Example 1 The data to set to this module is as follows when positioning is performed at a set speed of 5000 (mm/s) and set coordinates 20000 (mm). 500 pulses are required for a single rotation of the motor. The number of teeth of gear A is 50, and the number of teeth of gear B is 100. The feed screw pitch is 10 (mm/rotation). The following value is calculated from the above conditions: m=100/50=2 =500 P=10 v=5000 L=20000 First, calculate the pulse rate coefficient. =P/( ×m)=10/1000=0.
(2) Rotary operation The following describes rotary operation by positioning such as below a stepping motor.
Example 1 The data to set to this module is as follows when rotation is performed at a shaft rotary speed of 20 (rps) and number of shaft rotations of 100. 2 pulses are required for a 1° (deg) rotation of the motor. The number of teeth of gear A is 50, and the number of teeth of gear B is 200. The following value is calculated from the above conditions: First, calculate the pulse rate coefficient. m=200/50=4 =1/2=0.5 =360/0.
1-4 Procedure up to start of operation Wiring of external inputs (⇒See Chapter 4.) • Wire origin input signal, origin proximity input, CW/CCW limit input, emergency stop input, and general-purpose input. 1 Wiring of motor and driver • Wire according to motor and driver Instruction Manual. Wiring of driver and this module (⇒See Chapter 4.) Setting of axis block data • Set parameters (I/O states, operation mode, zero return mode, acceleration/deceleration data, software limits, etc.
Chapter 2 Specifications [1] General specifications Specifications Item JW-12PS JW-14PS Storage temperature -20 to 70°C Ambient temperature 0 to 55°C Ambient humidity 35 to 90%RH (condensation not allowed) JIS C0911 compliant Vibration resistance • Peak-to-peak amplitude 0.15mm(10 to 58Hz), 9.8m/s2(58 to 150Hz)(2 hrs on each of X, Y and Z axes) 2 Vibration resistance JIS C0912 compliant 147m/s (3 times on each of X, Y and Z axes) Power consumption (5 VDC) Max.450mA * Max.
[2] Functional specifications (1) Performance specifications Item Applicable PLC Specifications (JW-12PS/14PS) JW50H/70H/100H Series Number of occupied I/Os I/O relays: 2 bytes, data registers: 256 bytes (special I/O area) 2 Control target driver Pulse train input servo driver or driver for stepping motor Control method Open or closed loop control based on pulse train output Number of controlled axes JW-12PS:2 axes(X,Y),JW-14PS:4 axes(X,Y,Z,A) Control unit Pulse Control modes Single-step operation,
From previous page Item Software limit Specifications (JW-12PS/14PS) Settable within range -9999999 to +9999999 pulses Auxiliary output (M output) 8 outputs/axis (output to external relay) General-purpose input 1 input/axis, real-time external input not via PLC (used for interrupt jog feed, etc.
(4) Output specifications Item Specifications (JW-12PS/14PS) Signal names Clear deviation/general-purpose output Output type NPN transistor output (sync output) Rated output voltage (range) 5/12/24VDC (4.75 to 26.4VDC) Output current Max. 30 mA (integrated surge protection for general-purpose output) ON voltage 1.5 V or less OFF leak current 0.
Chapter 3 Names and Functions of Parts JW-12PS JW-14PS 3 Function Name Display panel Displays the point No., axis operating state and other information using the segment LED (three digits) and indicators (X, Y, CW, CCW, etc.). MODE switch Sets the operation mode. INITIAL switch Initial switch Connection for tool connector (CN1) For details, →see page 3-4. This connector is for connecting to a Windows machine (OS: Windows 95/98).
[1] Display panel The operation status of this module is indicated by the state (lit, out, blinking) of LEDs on the display panel. JW-12PS JW-14PS JW-12PS JW-14PS Segment display (red) →See the following page.
(2) Segment display (3 digits) The data No., error code, etc. are indicated in each operation mode. Segment display: 3-digit display (0 to 9, -, P, d, F, J, t, H, h) 3rd digit 2nd digit 1st digit The following table shows the main content that is displayed. State Regular operation mode During teaching Description on segment display Normal Error Position data No, step data No., etc. Error No., etc. • FAULT indicator blinks. Position data No., etc. • When the position data No.
[2] Switches (MODE, INITIAL) Name Type Description of functions Sets the operation mode: 0: Regular operation mode (startup axis enable display mode) *1 1: Regular operation mode (X-axis enable display mode) 2: Regular operation mode (Y-axis enable display mode) 3 MODE Rotary switch 0 to 9 (4 bits) 3: Regular operation mode (Z-axis enable display mode) 4: Regular operation mode (A-axis enable display mode) 5: - (unused) 6: - (unused) 7: - (unused) 8: System maintenance mode (system version upgrade, et
Chapter 4 Installation and Connection 4-1 Installing this module This module is installed on the I/O slots of the rack panel (JW-6BU/13BU, etc.) for the JW50H/70H/ 100H. It is not installed on the option slots. Turn the JW50H/70H/100H OFF. Insert the connector for this module into the module connector on the rack panel, and tighten the module fixing screws at the top and the bottom with the Phillips screwdriver.
4-2 Connecting connectors to this module The following describes how to connect the CN1 connector for tool connection, CN2 connector for X-/ Y-axes and CN3 for Z-/A-axes (JW-14PS only). [1] Connecting the CN1 connector for tool connection Connect this connector to the third-party personal computer (Windows 95/98). Use the dedicated cable and communications adapter (JW-100SA, sold separately) for connection.
(1) Exclusive cable wiring diagram Personal computer side (JW-100SA side) Pin No. Signal Name 2 m or less (cable length) PS (JW-12PS/14PS) side Remarks Pin No.
[2] Connection of connectors CN2/CN3 for axes The following shows the model names and signal arrangements of the X-/Y-axis connector CN2 and Z-/A-axis connector CN3 (JW-14PS only).
(2) Signal arrangement of connectors CN2/CN3 for axes NO. Direction Axis* Signal Name 1 IN Common 24 V power input (+) 2 3 NO.
4-3 Connecting (wiring) to external devices This module Diode : IN Load 4 [1] to [8] show the wiring between this module and external equipment. Pay attention to the following points during wiring. Noise from power lines in the periphery or external loads sometimes cause electronic control devices to malfunction (e.g. positional shift). Adopt the following countermeasures to eliminate malfunction caused by noise and improve system reliability. 1.
[1] Wiring in open loop control with a general pulse driver The following example is for the X (Y) axis. Wire in the same way for the Z (A) axis. JW-12PS(JW-14PS) Signal Connector pin No. IN 26,27 24 VDC power supply 24 VDC(-) input (COM for output) + - (X, Y common) 1,2 24 VDC(+) input IN (X, Y common) Integrated power supply Pulse (stepping) driver FG FG Connector shell (X, Y common) Clear deviation output OUT X,6 [24 V(-) input is common.] (Y,18) OUT X,31 [24 V(-) input is common.
[2] Wiring in closed loop control with a general pulse driver The following example is for the X (Y) axis. Wire in the same way for the Z (A) axis. JW-12PS(JW-14PS) Signal Connector pin No. IN 26,27 24 VDC power supply 24 VDC (-) input (COM for output) + - (X, Y common) 1,2 24 VDC (+) input IN (X, Y common) Integrated power supply Pulse (stepping) driver FG FG Connector shell (X, Y common) Clear deviation output 4 OUT X,6 (24 V (-) input is common.
[3] Wiring in closed loop control with a general pulse driver The following example is for the X (Y) axis. Wire in the same way for the Z (A) axis. JW-12PS(JW-14PS) Signal 24 VDC power supply Integrated power supply IN 26,27 VDC (-) input (COM for output) + - (X, Y common) 1,2 24 VDC (+) input IN (X, Y common) Integrated power supply Servo driver FG FG Connector shell (X, Y common) Clear deviation output OUT X,6 (24 V (-) input is common.) (Y,18) OUT X,31 (24 V (-) input is common.
[4] Wiring in open loop control with a general servo driver The following example is for the X (Y) axis. Wire in the same way for the Z (A) axis. JW-12PS(JW-14PS) Signal Connector pin No. 24 VDC power supply 24 VDC (-) input 26,27 (COM for output) (X, Y common) IN + - 1,2 24 VDC (+) input IN Suitable resistance value is required. Pulse module can be driven up to 30 mA.
[5] Wiring of the input section Use a switch, for example, having a switching capacity of 5 mA or more for each input. Connect a power supply to b contacts when not in use. (b contacts can also be changed to a contacts in parameters except for the emergency stop input.) 24 VDC power supply + - JW-12PS/14PS + Pins 14, 39 Input signal common (common to X, Y, Z, A axes) 3.9kΩ Upper limit (CW) LS input b contact X(Z)-axis pin 9 (can be changed to a contact) Y(A)-axis pin 21 3.
[6] Wiring of CW/CCW pulse output signals (1) Wiring in an open collector connection with a general pulse driver 24 VDC power supply JW-12PS(JW-14PS) + Be sure to wire to FG using a shielded pulse output signal line. (Connected the shielded lead to the shield of the connector.) 24 VDC (-) input 26,27 (COM for output) (common to X, Y, Z, A axes) 4 Driver side - Suitable resistance value is required. Open collector of pulse module can be driven up to 30 mA.
[8] Wiring of origin signal (1) When this signal is used in an open loop When the differential signal origin (Z phase) signal is output from the driver Differential signal of servo driver JW-12PS(JW-14PS) FG Z-phase signal output 2.
Chapter 5 Data Transfer 5-1 Data transfer between this module and the JW50H/70H/ 100H control module 256-byte special I/O data area is used for transferring data between this module and the JW50H/70H/ 100H control module. I/O refresh area on which this module is mounted cannot be used for data transfer. The following shows the data required for each program mode.
Outline of data exchange Control module side Data memory 5 Refresh area 1, 2 bytes Refresh area 1 input (use not allowed) Refresh area 2, 256 bytes Common RAM (32 Kbytes) Input relays (16 bytes/axis) Input relays (16 bytes/axis) Total 64 bytes Total 64 bytes Read data area for block transfer (common to each axis) 64 bytes I/O refresh See next page. JW-14PS (JW-12PS) side Present position, error code, status, etc.
[1] Refresh area (1) Refresh area 1: I/O relay area (2 bytes) Address 1st byte 2nd byte Description Use not allowed • Addresses are assigned according to the position where this module is mounted and by optional I/O registration of the JW50H/70H/100H control module.
[2] Block data The block data for each axis is comprised as shown in the following table in 64-byte units. (The block data must be set independently for each axis.) Block No.
The following shows the formats for each of the data items. (Setting data is annotated entirely in BCD.
(4) Speed data (No.01 to 64) Setting range: 0 to 500000 (0 to 500 kpps) in 1-pps increments Address G+0000 G+0001 G+0002 G+0003 Bit 7 101 103 105 6 5 4 3 100 102 104 2 1 0 • G is the top address of each speed data No.01 to 64. (5) Position data (No.
(6) Program operation step data (No.01 to 99) Bit J+0007 Address 7 J+0000 J+0001 J+0002 J+0003 J+0004 J+0005 J+0006 When operation pattern is set to "Single step", "Automatic" and " Continuous" When operation pattern is set to "Speed operation" 6 5 4 3 2 1 0 Axis designation (4=X-axis, 5=X-axis, 6=X-axis, 7=X-axis) Operation pattern (0, 1, 2, 3) ⇒ See below. Acceleration time No. (0 to 8) *0 is parameter value. Deceleration time No. (0 to 8) *0 is parameter No. Startup speed No.
Operation patterns and jump destinations in program operation Four settings are provided for the operation patterns (described on the previous page). Combining jump ON/OFF conditions with these operation patterns results in the seven patterns shown in the table below.
About startup axis in program operation, and interpolation operation Startup This module can simultaneously start single-step operation of each of the four axes, and perform linear interpolation of two axes. It can also perform start interpolation of two axes with single-step operation of the other axes, and simultaneously start linear interpolation of two sets of two axes. On the JW-14PS, the combination of the two axes to interpolate can be selected as desired.
5-2 Operation data area This section describes the assignments and functions of refresh area 2 (pages 5-2 and 5-3). [1] Assignment of special I/O data area Special I/O data area (256 bytes) is used as the refresh area. * JW-14PS only (1) Input section (N+0000 to 0177) I/O Byte address of data memory (N+****) Details Bit Function X-axis Y-axis Z-axis* A-axis* No. Page 0 Operation ready (U.R.
0015 0035 0055 0075 0 to 7 Reserved function 0016 0036 0056 0076 0 to 7 Input (PC←PS) 0017 0037 0057 0077 0 to 7 64 0100 to 0177 bytes Reserved function Block data No. monitor (00 to 31) *Read block No. is indicated. (2) Output section (N+0200 to 0377) I/O Byte address of data memory (N+****) * JW-14PS only Details Bit Function No. Page X-axis Y-axis Z-axis* A-axis* Start 1 [ ↑ ] 0 1 At program operation 2 3 0200 0220 0240 0260 Continuous startup 1 Single-step startup Step No.
[2] Description of functions 5 ←PS) (1) Input section (PC← to correspond to the numbers on pages 5-10 and 5-11. Operation ready (U.R.) This input turns ON when normal parameters and block data are stored to this module, and this module is ready for operation. Positioning completed This input targets the following operations: program operation startup, direct operation startup, jog operation, zero return, and move origin.
Error flag This flag turns ON when an error occurs. At the same time, an error code is output to the "Error code" register and is indicated on the 7-segment display on the front of this module. • This flag turns OFF when the error state is canceled by power ON, initial start or the "Clear error" relay. Note, however, that the error reoccurs if the cause of the error still remains.
5 →PS) (2) Output section (PC→ to correspond to the number on page 5-11. Start 1 Program operation is started by this relay changing state from OFF to ON. • Either of external startup or this relay is enabled when the operation mode (parameter 1 address A+0076) of general-purpose input is set to "External startup input." (To perform an external startup in program operation, the relay at ' must be set to "0".
Deceleration stop A deceleration stop is executed by this relay changing state from OFF to ON. • In program operation, the "Deceleration time No." set in step data (block data: block No.16 to 28) is enabled as the deceleration time. • In direct operation, the "Deceleration time No." set in the "Deceleration time No." register is enabled as the deceleration time. Forced intervention startup Forced intervention operation is executed by this relay changing state from OFF to ON.
Block data read When this relay is ON, the 64-byte block data in this module is read to the "Data storage area at block data read" register. • The block No. of the read destination is set at the "Block data block No." register. • The BD.REQ signal relay turns OFF during reading of block data. • If this relay turns ON when this module is not busy (i.e. "Busy flag" is OFF), reading of block data is executed once every two scans for the duration that this flag is ON.
Speed instruction value (100 101) to Speed instruction value (104 105) Set the target speed to these registers during "Direct operation," "Jog operation" and "Move origin" operations. • The setting range is 0 to +500000 KPS (when the differential driver is used), and the resolution is 4. • When "000000" is set, the jog operation speed set at parameter 1 (address A+0070 to 0073) is enabled. Acceleration time No. (0 to 8) Set the acceleration time No.
5-3 Parameters [1] Parameter assignments (1) Parameter 1 (regular parameters: must be set independently on each axis) This parameter must be set to operate this module. The following table shows the settings of parameter 1. The settings be transferred to block No.00 of the PS block data. "****" in "A+****" (where A is the top address of parameter 1) is indicated as the numerical value of the following addresses. Address Byte Default 0000 5 0001 0002 Details Function No.
Address Byte Default 0074 1 Bits 0 to 3 00 Acceleration/deceleration curve (00 to 99%) Sets the S-curve coefficient within range 00 to 99%. (ramp when "00" is set) 0 Jog operation mode 4 to 7 0 Bits 0 to 3 0 0075 0076 0077 Function 4 to 7 0 1 00 Details No.
[2] Parameter setup procedure (1) Setup procedure for regular control parameters (when module is used in an open loop) Set all functions to be used to parameter 1. When direct operation is performed, only parameters are transferred in blocks. When program operation is performed, block transfer is performed after parameters and data (position, speed, step data, etc.) for various program operation is set. (See item "Block transfer".) Write the various data to PS internal flash ROM.
[3] Details of parameters 1/2 (1) Details of parameter 1 to correspond to numbers on pages 5-18 and 5-19. Parameter 1 - address 0000 - bit 0 (default 0 (OFF)) Selects the output pulse signal system. When "0" is set, the 2-pulse system is selected, and when "1" is set, the signed pulse system is selected. (See page 5-24.) Parameter 1 - address 0000 - bit 1 (default 0 (OFF), b contact) Selects the logic of the limit input signal (9, 34, 21 and 46 of CN2/3) that is input by external sensors, for example.
5 Parameter 1 - address 0003 (default 00 (BCD)) Sets the origin detection method in BCD. When "00" is set, an immediate stop at the origin after escape from proximity is selected. When "01" is set, the origin count method 1 is selected. When "02" is set, the origin count method 2 is selected. When "03" is set, the origin proximity signal is used, operation is started by low-speed zero return, and stops immediately by the origin signal.
Parameter 1 - addresses 0044 to 0047 (default -9999999 (BCD)) This is the software limit value on the CCW side. The setting range is -9999999 to +9999999. (Note) The software limit setting range changes when the electronic gear is used. (See item "Electronic gear".) Parameter 1 - addresses 0054 to 0057 (default 99999999 (BCD)) This is the software limit value on the CW side. The setting range is -9999999 to +9999999. (Note) The software limit setting range changes when the electronic gear is used.
Setting details of parameter 1 - address 0000 - bit 0 Sets the pulse output type according to the driver specifications. • When set to "0", the 2-pulse system is adopted. CW At forward pulse output CCW CW At reverse pulse output CCW • When set to "1", the signed pulse system is adopted.
(2) Details of parameter 2 to correspond to numbers on page 5-18. Parameter 2 - address 0000 (default 0 (OFF)) Selects the closed loop control mode. When "00" is set, closed loop control is not used. When "01" is set, operation stops in error and compensation is not performed when the number of pulses from the encoder exceeds the closed loop control allowable range.
5-4 How to transfer to the relay area This module is a special I/O module. However, it differs from regular special I/O modules in that automatic I/O registration cannot be used as 256 bytes of special I/O data registers area is occupied. So, on systems mounted with this module, be sure to perform optional I/O registration. • For details on how to perform optional I/O registration, refer to the user's manual for the dedicated tool (JW-14PG, JW-50SP, etc.).
Brief outline of data transfer The following shows a brief outline of data transfer that must be handled in relay units in the special I/O data area of JW-14PS (top address of special I/O is 49000) on the previous page. a. Relay area after transfer 0500 to 0503 b.
[1] Special I/O data area assignments (1) Assignment of special I/O data area when top address is set to 49000 by optional I/O registration (I/O assignments before transfer on previous page b) • Input section (N+0000 to 0177) Bit 0 Operation ready (U.R.
• Output section (N+0200 to 0377) Byte address of data memory I/O X-axis Y-axis Z-axis A-axis Bit Function Start 1 [ ↑ ] 0 1 At program operation 2 3 49200 49220 49240 49260 At direct operation 7 Output (PC→PS) 49202 49222 49242 49262 Continuous startup 1 Single-step startup Step No.
(2) Assignment of special I/O data area after transfer by sample ladder 1 (page 5 - 32) (I/O assignment after transfer of a on page 5 - 27) • Input section (N+0000 to 0177) Byte address of data memory X-axis X-axis Z-axis A-axis Bit 0 1 2 3 0504 0510 0514 5 Program operation startup standby Operation ready ↑ Completed At start 0 Non-busy state 1 Busy state 0 Non-startup standby 1 Startup standby state 0 Origin 1 No origin 5 Teaching completed ↑ Completed At start 6 BD.
• Output section (N+0200 to 0377) Byte address of data memory I/O X-axis Y-axis Z-axis A-axis Bit Function Start 1 [ ↑ ] 0 1 At program operation 2 3 0520 0524 0530 0534 At direct operation 7 0525 0531 0535 0522 0526 0532 0536 Single-step startup Step No.
Sample ladder program 1 This ladder program transfers part of special I/O data area to relay area.
5-5 How to block-transfer any single block of data The following describes a method of reading any single block of data to block data storage area on the JW50H/70H/100H control module input section from shared RAM on JW-12PS/14PS, and transferring that block data to block data storage area on the JW50H/70H/100H control module output section. In this example, the read/write section of the block data is added to the "transfer to relay area" sample ladder program on the previous page.
[Details of data flow] Read X-axis parameter 1 (block data No.00) from PS side. Transfer read data to write storage area. Write write data to PS. Save block data. The following table shows the procedure for the above flow and the setup method when the ladder program on the following page is used. Setup method/result of ladder program on following page General method, result Setting • Block data No. (No.
0000 000000 0001 000002 0002 000003 Change setting value 07365 OFF at all times 07366 Setting value change switch F-047 ONLS OFF at all times 07366 X-axis data 1 X-axis bit 1 F-000d XFER 49000 0500 Y-axis data 1 Y-axis bit 1 F-000d XFER 49020 0504 Z-axis data 1 Z-axis bit 1 F-000d XFER 49040 0510 Transfer of input area A-axis data 1 A-axis bit 1 F-000d XFER 49060 0514 0003 000020 0004 000021 X-axis X-axis BD read BD, REQ 07000 F-044 05006 ↑ F-048 ONLR X-axis X-axis read BD No.
0013 000115 A-axis A-axis BD read BD, REQ 07030 F-044 05146 ↑ Z-axis A-axis read BD No.
5-6 Data read/write ladders in block transfer [1] Outline Various data is transferred in 64-byte size blocks to transfer (read/write) data to the JW-12PS/14PS side from the JW50H/70H/100H control module. For example, to transfer all the block data of the Xand Y-axes (or, Z- and A-axes), transfer must be performed 128 times (64 times). The total block data per axis is 2048 bytes. As there is not enough space in the regular registers of file 0, separate file memory must be registered.
Brief description of reading by the sample ladder program PC side data memory Input relays (16 bytes/axis) Total 64 bytes Total 64 bytes I/O refresh Input relays (16 bytes/axis) Read data area for block transfer (common to all axes) 64 bytes 5 JW-12PS/14PS side Indicates the block No.
[2] BD.REQ signal The following explains operation of the BD.REQ signal which is handy when used for reading/ writing of block data. Normally, the BD.REQ signal is ON when block data transfer is possible. The BD.REQ signal turns OFF during transfer when the block data read/write relays turn ON. The following shows the timing of data transfer using the BD.REQ signal.
5-7 Sample ladder program for batch transfer of all axes and all block data • Data is read (PS→PC) when 04000 turns ON. • Data is written (PC→PS) when 04001 turns ON. • Block data is saved to flash ROM when 04002 turns ON.
0008 000074 0009 000110 0010 000113 0011 000116 0012 000121 0013 000124 A-axis read completed 04013 F-044 ↑ X-axis B read F-033 05224 RST Y-axis B read F-033 05264 RST Z-axis B read F-033 05324 RST A-axis B read F-033 05364 RST Axis data read SW F-033 04000 RST All axes data read completion Read switch (4000) automatic OFF Axis data X-axis read SW B read 04000 05224 X-axis read auxiliary 04020 Axis data Y-axis read SW B read 04000 05264 Y-axis read auxiliary 04021 Axis data Z-axis read SW B r
0019 000217 0020 000223 0021 000227 5 0022 000236 0023 000246 0024 000252 0025 000256 0026 000265 0027 000275 0028 000301 0029 000305 0030 000314 0031 000325 0032 000331 Read data area F-070 FILE 100 49100 @09010 X-axis BN0 F-065 49205 BCDI X-axis 32 times X-axis read auxiliary 04020 Read block data is transferred to file 1. 1 is added to block data read No. BN0 Fc012 49205 CMP X-axis read auxiliary Zero flag 04020 07357 Y-axis read Y-axis auxiliary BD.
0033 000335 Axis data write SW 04001 F-044 ↑ X-axis B write F-032 SET 05223 Y-axis B write F-033 RST 05263 Z-axis B write F-033 RST 05323 * 000000 to 017777 of file 1 are transferred to common RAM area in PS (operation data storage area) by 4001 turning ON. A-axis B write F-033 RST 05363 Write completed relay F-001 00 0403 BCD 0034 000352 X-axis write X-axis Axis data completed BD.
0041 000444 0042 000447 0043 000452 Axis data Z-axis write SW B write 04001 05323 Z-axis write auxiliary 04042 Axis data A-axis write SW B write 04001 05363 A-axis write auxiliary 04043 X-axis write auxiliary 04040 F-044 ↑ BN0 counter F-008 OCT F-008 OCT 000 09000 AD buffer 1 001 09012 AD buffer 2 F-008w OCT 000000 09010 5 0044 000465 Y-axis write auxiliary 04041 F-044 ↑ BN0 counter F-008 OCT F-008 OCT 000 09000 AD buffer 1 001 09012 AD buffer 2 F-008w 09010 004000 OCT 0045 000500 Z-axis wr
0050 000555 0051 000574 0052 000600 0053 000604 0054 000623 0055 000627 0056 000633 0057 000652 0058 000656 0059 000662 Y-axis write Y-axis BD.
5-8 Transfer of any X-axis block when top address of special I/O area is set to 49000 The ladder program shown on pages 5-47 to 5-49 shows a method for reading and writing any block data on the X-axis from any address in file 1, and writing to any block data. (On the example ladder program on the following page, 32 items of X-axis block data written from 000000 to 003777 of file 1 are written to PS, and 32 items of X-axis block data are read from 000000 to 003777 of file 1.
Change setting value 07365 OFF 07366 OFF at all times contact Setting value change switch F-047 ONLS OFF 07366 X-axis bit 1 F-000d 49000 0500 XFER Y-axis bit 1 F-000d XFER 49020 0504 OFF at all times contact Z-axis bit 1 F-000d 0510 49040 XFER A-axis bit 1 F-000d XFER 49060 0514 BD WR START 07000 BD RD BUZY F-044 07101 ↑ Block data Block data write start read in (X-axis) progress (X-axis) F-048 ONLR Transfer of input area (PS→PC) BD WR PTR F-101 SEGM 000000 file1 09000 5 Leading write area of
Write busy auxiliary 04000 Block No. BD END designation NO F-012 CMP 49205 09010 Block data final No. Zero 07357 Zero flag X-axis final block No. comparison Y-axis 49225 Z-axis 49245 A-axis 49265 X-axis BD write relay Y-axis 5263 Z-axis 5323 A-axis 5363 X-axis B write F-033 RST 05223 BD WR BU ZY F-033 RST 07001 Block data write in progress (X-axis) BD WR START F-033 RST 07000 Block data write start (X-axis) X-axis BD WR BD.
X-axis BD RD BD,REQ BUZY 05006 F-044 07101 ↑ F-070 FILE Block data read in progress (X-axis) 100 49100 @09000 BD WR PTR BD WR PTR Fc210w ADD 09000 000100 09000 Pointer for Pointer for block data block data write write Block No. BD END monitor NO F-012 CMP 49017 09010 Block data final No. Zero 07357 Zero flag X-axis B read F-033 RST 05224 BD RD BUZY X-axis monitor block No.
5-9 Ladder programs for block transfer of any block of data and transfer of all block data Pages 5-53 to 5-59 show the following ladder programs: • Ladder program for transferring any single block of data on JW-14PS (top address 1000) on page 5-26. (This, in fact, involves reading to read data area for block transfer on the JW50H/70H/100H control module from shared RAM on JW-14PS, and transferring that block data to write data area for block transfer on the JW50H/70H/100H control module.
[1] Assignment of special I/O data area when top address is set to 1000 by optional I/O registration on JW-14PS • Input section (N+0000 to 0177) X-axisY-axis Z-axis A-axis Bit 0 Positioning completed 2 Busy flag 1040 1060 4 No origin flag 5 Teaching completed 1041 Operation ready ↑ Completed At start 0 Non-busy state 1 Busy state 0 Non-startup standby 1 Startup standby state 0 Origin 1 No origin ↑ Completed BD.
• Output section (N+0200 to 0377) Byte address of data memory I/O X-axis Y-axis Z-axis A-axis Bit 0 Start 1 [ ↑ ] 1 Continuous startup/single-step 0 Continuous startup startup setting 1 Single-step startup Step No.
[2] Sample ladder program 4 Ladder for transferring any block of data on JW-14PS 0000 000000 0001 000002 0002 000011 0003 000017 Change setting value 07365 OFF at all times 07366 X-axis BD rea 07000 Setting value change switch X-axis read BD No. X-axis B No. F-000 XFER 19000 1205 X-axis BD,REQ F-044 10006 ↑ X-axis B read 12024 X-axis data transfer 07001 F-044 ↑ X-axis X-axis BD write BD,REQ 07002 F-044 10006 ↑ F-070 100 1100 1300 FILE X-axis write BD No.
[3] Sample ladder program 5 Sample ladder for batch-transferring all axes, all block data on JW-14PS • Data is read (PS→PC) when 04000 turns ON. • Data is written (PC→PS) when 04001 turns ON. • Block data is saved to flash ROM when 04002 turns ON.
0007 000074 0008 000077 0009 000102 0010 000105 Axis data Y-axis read SW B read 04000 12224 Y-axis read auxiliary 04021 Axis data Z-axis read SW B read 04000 12424 Z-axis read auxiliary 04022 Axis data A-axis read SW B read 04000 12624 A-axis read auxiliary 04023 X-axis read auxiliary 04020 F-044 ↑ X-axis BDN0 F-008 OCT 000 F-008 OCT 001 09012 1205 AD buffer 1 AD buffer 2 F-008w 000000 09010 OCT 0011 000120 Y-axis read auxiliary 04021 F-044 ↑ Y-axis BDN0 F-008 OCT 000 F-008 OCT 001 090
0020 000227 0021 000233 0022 000237 0023 000246 Y-axis read auxiliary 04021 Fc012 CMP Y-axis read auxiliary Zero flag 04021 07357 Y-axis BN0 1225 062 Y-axis read completed F-032 04011 SET Z-axis BD, Z-axis read REQ auxiliary 10406 F-044 04022 ↑ Z-axis BD, Z-axis read REQ auxiliary 10406 04022 AD buffer 2 AD buffer 2 Fc210w 09010 000100 09010 ADD F-070 FILE 100 1100 @09010 Z-axis BN0 F-065 BCDI 0025 000262 0026 000266 0027 000275 Fc012 CMP Z-axis read auxiliary Zero flag 04022 07357 Z-axi
0032 000347 Axis data Y-axis write Y-axis BD, write SW completed REQ F-044 04001 04031 10206 ↑ 0033 000363 Axis data Z-axis write Z-axis BD, write SW completed REQ 04032 10406 F-044 04001 ↑ 0034 000377 A-axis write A-axis BD, Axis data completed REQ write SW 04033 10606 F-044 04001 ↑ 0036 000417 0037 000422 0038 000425 0039 000430 0040 000433 A-axis B write F-032 SET 12623 X-axis B write F-033 RST 12023 Y-axis B write F-033 RST 12223 Z-axis B write F-033 RST 12423 X-axis B write F-033 SET 12023 Y
0042 000461 Z-axis write auxiliary 04042 F-044 ↑ BN0 counter F-008 OCT F-008 OCT 000 09000 AD buffer 1 001 09012 AD buffer 2 F-008w 010000 09010 OCT 0043 000474 A-axis write auxiliary 04043 F-044 ↑ BN0 counter F-008 OCT F-008 OCT 000 09000 AD buffer 1 001 09012 AD buffer 2 F-008w OCT 014000 09010 5 0044 000507 0045 000526 0046 000532 0047 000536 0048 000555 0049 000561 0050 000565 0051 000604 0052 000610 X-axis write X-axis BD, auxiliary REQ 04040 10006 F-070 FILE 1300 100 @09010 BN0 c
0053 000614 0054 000633 0055 000637 0056 000643 A-axis write A-axis BD, auxiliary REQ 04043 10606 F-070 100 @09010 1300 FILE BN0 counter A-axis BN0 F-000 XFER 09000 1265 AD buffer 2 AD buffer 2 Fc210w 000100 09010 09010 ADD BN0 counter F-065 BCDI 09000 A-axis write auxiliary 04043 BN0 counter Fc012 09000 062 CMP A-axis write completed F-032 04033 SET A-axis write auxiliary Zero flag 04043 07357 Data save SW 04002 F-044 ↑ Data save 12025 5 - 59 5
5-10 Transfer of any X-axis block when top address of special I/O area is set to 1000 The ladder program shown on pages 5-61 to 5-63 shows a method of reading and writing any block data on the X-axis from any address in file 1, and a method of writing any block data. (On the example ladder program on the following page, 32 items of X-axis block data written from 000000 to 003777 of file 1 are written to PS, and 32 items of X-axis block data are read from 000000 to 003777 of file 1.
BD WR START 07000 BD RD BUZY F-044 07101 ↑ Block data Block data read write start in progress (X-axis) (X-axis) BD WR PTR F-101 SEGM 000000 file1 09000 Leading write area of file 1 Pointer for block data write BD WR BUF F-070 FILE 100 @09000 1300 Buffer for block data write BD NO X F-001 BCD 00 1205 Block data No. designation (X-axis) BD END NO F-001 BCD 31 09010 Block data final No. When X-axis data is set from 00000 of file 1 Write leading block No. of X-axis When set from block No.
BD WR BU ZY BD REQ X 10006 F-045 07001 ↑ Block data Block data write request (X-axis) in progress (X-axis) BD WR PTR BD WR PTR Fc210w ADD 09000 000100 09000 Pointer for Pointer for block data block data BD NO X BD NO X Fc010 1205 01 1205 ADD Block data No. Block data No. designation designation (X-axis) (X-axis) BD WR BUF F-070 100 @09000 1300 FILE X-axis axis write block No.
BD RD BD REQ X BUZY 10006 F-044 07101 ↑ Block data Block data request read in (X-axis) progress (X-axis) BD RD BUF F-070 FILE 100 1100 @09000 Buffer for block data read BD WR PTR BD WR PTR Fc210w ADD 09000 000100 09000 Pointer for block Pointer for block data write data write BD END BD NO X NO F-012 1017 09010 CMP Monitor block Block data data No. (X-axis) final No.
Chapter 6 Zero Return This chapter describes zero return instructions and operation patterns during zero return by individual settings. 6-1 Zero return operation When a zero return is executed, operation differs as follows according to whether or not (*) there is an origin proximity input signal. *This is set by address A +0003 (origin detection method) in parameter 1.
When instructing positioning using absolute values, you must perform a zero return first of all to confirm the origin. (Note) When the present position preset is used, the origin after the preset differs from the initially determined origin. (⇒ See item "Present value preset.
6-2 Example of operation by origin detection method (1) Stop by origin signal after origin proximity detection (value of parameter 1 address A+0003 set to "00") With this mode, the origin proximity signal and origin signal are captured from the external input connector and zero return is performed. When origin signal input is input by an open collector output signal, connect the signal to the sensor input (pins 10 and 22) for the origin. The response time is 1 ms or less.
(3) Origin count method 2 (value of parameter 1 address A+0003 set to "02") With this mode, the origin proximity signal and origin signal are captured from the external input connector and zero return is performed. Only differential driver output signals can be input for origin signal input in this mode. In this mode, operation is started at high-speed zero return as shown below, and deceleration operation is performed at the edge of the origin proximity signal.
(5) Inversion at limit end, zero return operation at low speed, and stop at origin (value of parameter 1 address A+0003 set to "04") With this mode, only the origin signal is captured from the external input connector and zero return is performed. The limit end signal is used instead of the origin proximity signal. Both open collector and differential driver output origin input signals can be input.
6-3 Operation patterns by origin detection method The following describes the operation patterns according to origin detection method and zero return operation. CW is taken as the zero return direction. When the zero return direction is taken to be CCW, the direction of operation and direction of the limit input signal changes.
From previous page 02 • Origin count method 2 Deceleration operation starts by the edge of the origin proximity signal, and stops at the determined origin count after escape from origin proximity. In this case, operation stops and an error does not occur when the determined count is reached even during deceleration operation. In the example on the right, the count is set to "3".
From previous page CW limit end Origin signal 04 • Limit end signal is used instead of origin proximity signal. No deceleration operation at limit end CCW CW Start Stop CCW CW Stop Start 6 CCW CW Stop 05 • Origin proximity signal and origin signal not used Start The point where zero return is started up is taken as the origin. Zero return is not performed. (This is for speed control operation on rotation system and for confirming initial operation.
[2] Limit end inversion OFF (Inversion mode 2) Origin return operation *2 *1 Origin detection method 2 : Limit end inversion OFF (inversion mode 2) Origin proximity CW limit end Origin signal CCW 00 • Stop by origin signal after origin proximity escape CW Start Stop CCW CW Start Stop 6 CCW CW Start Stop Results in CW limit end error.
From previous page 6 02 • Origin count method 2 Deceleration operation starts by the edge of the origin proximity signal, and stops at the determined origin count after escape from origin proximity. In this case, operation stops and an error does not occur when the determined count is reached even during deceleration operation. In the example on the right, the count is set to "3".
From previous page 04 • The limit end signal is used instead of the origin proximity signal. (No deceleration operation at limit end) This cannot be set as this results in an error at all limit ends. 05 • Origin proximity signal and origin signal not used The point where zero return is started up is taken as the origin. Zero return is not performed. (This is for speed control operation on rotation system and for confirming initial operation.
[3] All inversion OFF Zero return operation *2 *1 Origin detection method 0: All inversion OFF Origin proximity CW limit end Origin signal CCW 00 • Stop by origin signal after origin proximity escape CW Start Stop CCW CW Start Stop 6 Results in a CW limit end error CCW CW Start Stop Results in a CW limit end error Origin proximity 01 • Origin count method 1 Deceleration operation starts by the edge of the origin proximity signal, and stops at the determined origin count after escape from origin
From previous page Origin proximity 02 • Origin count method 2 Deceleration operation starts by the edge of the origin proximity signal, and stops at the determined origin count after escape from origin proximity. In this case, operation stops and an error does not occur when the determined count is reached even during deceleration operation. In the example on the right, the count is set to "3".
From previous page 04 • The limit end signal is used instead of the origin proximity signal. (No deceleration operation at limit end) This cannot be set as this results in an error at all limit ends. 05 • Origin proximity signal and origin signal not used The point where zero return is started up is taken as the origin. Zero return is not performed. (This is for speed control operation on rotation system and for confirming initial operation.
6-4 Zero return timing chart [1] When there is no origin compensation data When the origin proximity input signal is used Origin proximity 1 input signal 0 1 Origin signal 0 1 Zero return 0 Pulse output Time Start Positioning completed No origin Busy flag Stop 6 1 0 1 0 1 0 When the origin proximity input signal is not used 1 Origin input signal Zero return 0 1 0 Pulse output Time Start Positioning completed No origin Busy flag Stop 1 0 1 0 1 0 6 - 15
[2] When there is origin compensation data When the origin proximity input signal is used Origin proximity 1 input signal 0 1 Origin input 0 signal 1 Zero return 0 Origin compensation data* Pulse output Time Start 6 Positioning completed No origin Busy flag 1 0 1 0 1 0 * The travel speed according to the origin compensation data is low-speed zero return.
[3] Immediate stop of zero return Zero return is canceled when the emergency stop signal (external input signal) is input during execution of zero return. Before executing a zero return again, reset the error.
6-5 Move origin Move origin is used to return the axes to the origin position from any position. This is executed at the ON rising edge of move origin. (Note) Execute move origin with the origin confirmed. The present position unconfirmed error (error code 039) occurs if the origin is not confirmed.
[2] Timing chart The following shows the timing chart when move origin on the X-axis is executed.
Chapter 7 Direct Operation 7-1 Explanation of direct operation [1] Outline In program operation, the step data programmed with the operation patterns must be transferred to internal memory on this module. However, in direct operation, positioning is performed merely by writing the position/speed data whenever necessary to the specified area (special I/O data area) on the PLC.
[3] Data setup procedure in direct operation The following shows the procedure for performing direct operation on the X-axis. Set the display mode using switches. Block-transfer parameter 1. • When the acceleration/deceleration values are changed, this data only is block-transferred. • Also set parameter 2 when an electronic gear, closed loop control and absolute value control is used. (Note) When absolute value control operation is performed, connectable servo drivers are limited.
7-2 Setting data to be used for direct operation The following describes the various axis data and special I/O data area used when executing direct operation. For details on how to set data and other details, see "5-3 Parameters" and "5-2 Operation data area." [1] Axis parameters Parameter 1 (regular parameter) Set as follows as block No.00.
7-3 Basic operation of direct operation Whenever there is a startup, the required operation data is set to special I/O data area to execute position control operation or speed control operation. [1] Position control operation Point-to-point position control operation is executed when direct operation is started up with the "Position control/speed control setting" relay set to "0".
[2] Speed control operation Speed control operation is executed when direct operation is started up with the "Position control/speed control setting" relay is set to "1". Speed control operation can be stopped only by "external interrupt" and "deceleration stop." (1) Required operation data and setting memory Operation data name Setting memory name Description Special I/O data area • "Position data" is the travel distance after an interrupt.
7-4 Nested startups in direct operation When new operation data is set to special I/O data area and position control operation is executed with operation at fixed speed during direct position control operation, new control is executed midway. Nested startups are not possible during acceleration/deceleration operation, and are not possible from speed control operation and program operation.
(3) Basic timing chart 3 (in case of nested startups in the same direction with incremental values) In the following operation, the final position becomes the position after travel by position data b from the 2nd startup signal.
7-5 Direct operation sample program The following shows an example of direct operation on the X-axis using the settings below. These parameters must be set before this ladder program is executed. (1) Operation settings X-axis target coordinate data: 100000 (pulses) X-axis target speed data: 200000 (p/s) X-axis acceleration speed No.: 00 (parameter 1 data) X-axis deceleration speed No.
(2) Ladder program 0000 000000 07366 0001 000002 0002 000003 07365 F-47 ONLS 07366 X F-000d XFER 0500 49000 Y F-000d XFER 49020 Special I/O input section • 4 bytes of each axis data are transferred to relay area. 0504 Z F-000d XFER 49040 0510 A F-000d XFER 0003 000020 0004 000021 49060 0514 F-48 ONLR 07000 Position data F-091 BCD8 F-091 BCD8 0010 0000 Speed data 49210 0002 0000 Deceleration No.
(3) Assignment of special I/O data area • Input section (N+0000 to 0177) * JW-14PS only Byte address of data memory X-axis Y-axis Z-axis* A-axis* Bit Function 0 Operation ready (U.R.) 1 Positioning completed 2 Busy flag 3 0504 0510 0514 0511 At startup 0 Non-busy state 1 Busy state 0 Non-startup standby 1 Startup standby state 0 Origin 1 No origin 5 Teaching completed ↑ Completed At start 6 BD.
• Output section (N+0200 to 0377) *JW-14PS only Byte address of data memory I/O X-axis Y-axis Z-axis* A-axis* Bit Description Start 1 [↑] 0 1 At program 2 3 0520 0524 0530 0534 operation 0535 Output (PC→PS) 0522 0526 0532 0536 Single-step startup Step No.
Chapter 8 Program Operation 8-1 Outline In program operation, step data (position data, speed data, etc.) is transferred in advance to this module, and positioning is performed based on this step data according to instructions from the PLC. PLC (JW50H/70H/100H control module) This module (JW-12PS/14PS) n+02001 Single-step/ continuous switching F-01 Step No. N+0203 BCD BCD n+02000 Program operation startup Transferred in advance Automatic output by I/O refresh Step No. designation Step No.0 Step No.
This module performs positioning by step data (speed data No., acceleration time data No., deceleration time data No., dwell timer data No.) that is set to the specified step No. When a jump is not programmed Positioning is performed in order. Step No. enable Step data Startup No.1 No.1 When a jump is programmed Program execution moves to the step No. at the jump destination and positioning is continued from that step No. Step No. enable Step data Startup No.10 No.10 Jump No.2 No.20 Jump No.3 No.
[2] Axis designation and flags There are two types of status and present position that are assigned to input relays: those that are input to the axis (axis in the step data) on which startup was executed, and those that are input to the actual operating axis specified by axis designation. Also, the data of the startup execution axis is used at all times for the output relay.
• When the instruction (e.g. zero return) other than program operation is the same axis as the startup execution axis in program operation, the nested startup error does not occur, and the instruction performed later is ignored. [Example] Step data (X) Startup (X) Zero return performed later is ignored. No.1 Zero return (X) Position data No.1 Axis designation Position data (Y) No.1 In other words, in program operation, instructions on the operating axis are handled as a nested startup.
8-2 Setting the data to be used in program operation The following describes the various axis parameters and operation relays that are used when program operation is executed. For details on how to set data and other details, see "5-3 Parameters" and "5-2 Operation data area." [1] Axis parameters Parameter 1 (regular parameter) Set as follows as block No.00.
[2] Operation relay Assignment of special I/O data area Byte address of data memory I/O Input X-axis Y-axis Z-axis* A-axis* Bit 2 Busy flag 3 Program operation startup standby 0000 0020 0040 0060 (PC←PS) Function 0 Non-busy state 1 Busy state 0 Non-startup standby 1 Startup standby state 0010 0030 0050 0070 0 to 7 Output code (00 to 99) *Enabled at program operation 0011 0031 0051 0071 0 to 7 Step No.
8-3 Operation in program operation Positioning can be performed as follows according to step data settings. [1] Startup of program operation There are two ways of starting up program operation, and there are two operation modes after a startup. (1) Startup method Change of state of the program operation startup relay from OFF to ON (↑) Change of state from OFF to ON (↑) by an external startup signal (general-purpose input) (Selection of external startup input and parameter setting are required.
(2) In continuous operation (operation pattern 1, jump destination 00) Position is executed by the settings of this step data, program execution stops for the time preset to the dwell timer, and position is executed by the settings of the next (incremented by "1") step data. Automatic end Speed Step No.n+1 Step No.n Time Dwell time Step No. n Step No. enable Startup (Note) (Note) When single-step startup is executed, the automatic end does not result; single-step end results.
(4) Speed control (operation pattern 3) Pulse output is maintained at the target speed in this step data. The present position is also calculated during continued output. The direction of pulse output follows the sign in the position data of the same No. To stop this output, either execute the deceleration stop instruction, or input the external interrupt signal from general-purpose input. Deceleration stop Speed Deceleration stop instruction Step No.n Time Step No. n Step No.
[3] Linear interpolation Linear interpolation can be performed on two or more specified axes. The desired axis on which linear interpolation is performed is specified in the axis designation in the step data. At this time, the target speed set to the step data of the axis that was started up becomes the interpolation speed. For details on the step data setting, see item "Details of step data.
8-4 Data setup procedure in program operation The following shows the procedure for performing program operation on the X-axis. Set the display mode using switches. Set the block data (parameters 1 and 2, position, speed, step, etc.) of each axis to registers (file 1, etc.) on the PLC. • Also set parameter 2 when an electronic gear, closed loop control and absolute value control is used. When absolute control operation based on an absolute system is performed, connectable servo drivers are limited.
8-5 Timing chart in program operation The following describes single-step startup and the timing charts at startup with the X-axis as an example. First, the busy flag and step No. enable that must be first understood at program operation are described. [1] Busy flag This flag turns ON while pulse output is being processed for each axis, and turns OFF when execution is completed. New startups cannot be executed while the busy flag is ON.
[3] Timing chart of startup by single-step operation Startup by single-step operation is used to cause a stop at each step data. Startup by single-step operation is handled as "single-step" regardless of the setting of the step data operation pattern, and the program stops by a single startup. The timing chart for when the operation pattern of each step data is set as follows is indicated with the X-axis as an example. Step No.0: continuous, jump destination 00 Step No.
[4] Startup timing chart For startup, operation following the operation pattern of each step data is executed from any desired step No. When the step No. whose operation pattern is set to "single-step" is executed, pulse output is stopped and program execution stands by for startup after positioning is completed. The following shows the timing chart for when the operation pattern of each step data is set as follows with the X-axis as an example. Step No.0: continuous, jump destination 00 Step No.
8-6 Example of program The following shows an example of a ladder program for starting up the X-axis program data (step No.2) when the top address of the special I/O data area is 49000.
Program operation step data (For details, ⇒see page 5-7.) Bit Address 7 J+0000 J+0001 J+0002 J+0003 J+0004 J+0005 J+0006 When operation pattern is set to "Single step", "Automatic" J+ and "Continuous" 0007 When operation pattern is set to "Speed operation" 6 5 4 3 2 1 0 Axis designation (4=X-axis, 5=X-axis, 6=X-axis, 7=X-axis) Operation pattern (0, 1, 2, 3, BCD) Acceleration time No. (0 to 8) *0 is parameter value. Deceleration time No. (0 to 8) *0 is parameter value. Startup speed No.
Timing chart when operation is performed on one axis at a time started up by X-axis Step No. at program startup ( 0523) Single-step/continuous startup setting (05201) Step No. enable (05202) 2 0(Continuous) Program operation startup (05200) Speed Dwell timer X-axis Time Speed Dwell timer Y-axis Time Positioning completed(X) (05001) Busy flag(X) (05002) 8 Busy flag(Y) (05042) Program operation startup standby(X) (05003) Step No.(X) (49000) 7-segment display LED shows step No.
[2] Step data when performing program operation on Y-axis Y-axis step data 2(BCD) 1(BCD) X-axis designation ("1" in Hex) 3(BCD) Acceleration time No.2 (Y-axis data) Operation pattern 1 (automatic) 22(BCD) Startup speed No.22 (Y-axis data) 10(BCD) Target speed No.10 (Y-axis data) 01(BCD) Dwell timer No.01 (Y-axis data) 02(BCD) Position data No.02 (X-axis data) 05(BCD) Output code 05 05(BCD) Jump destination 5 Y-axis step data 4(BCD) Deceleration time No.3 (Y-axis data) Step No.
Timing chart when interpolation is performed on two axes after the X-axis that started up by the Y-axis operates in program operation Step No. at program operation ( 0527) 2 Single-step/continuous startup setting(Y) (05241) Step No. enable(Y) (05242) 0(continuous) Program operation startup(Y) (05240) Speed Position No.2(X) Dwell timer No.1 Dwell timer No.1 Position No.5(X) Time Position No.2(Y) Dwell timer No.1 X-axis Speed Position No.
Chapter 9 Closed Loop Control This module captures information from the encoder using a high-speed counter, and performs three operations (operation modes 0, 1 and 2) using those values (feedback values). To use closed loop control 1 or 2, the following settings must be set to parameters 1 and 2 in advance. Also, note that restrictions apply to these settings. (⇒ See electronic-gear related setting restrictions.
[2] Mode 1 In this mode, errors are monitored according to the feedback data. An error is judged to stop operation when the coordinate value according to the output pulse and the coordinate value captured from the encoder have exceeded a fixed value (closed loop control allowable range). (Errors are monitored at all times during operation.
[3] Mode 2 This mode is for performing positional compensation according to the feedback data. Compensation is performed so that deviation is eliminated after the positioning instruction pulse is output. When output of all instruction pulses is completed and then positioning does not fall within the completion pulse allowable range within the positioning monitoring time, the completion range error (017) is output and operation is stopped.
9-3 Table of setting values and operations The following describes the values of various parameters and operations according to the external positioning completed signal for two cases, a stepping driver and servo driver. Relationship between external positioning completed signal and closed loop control mode on a stepping motor Enabled 1 1(BCD) 2(BCD) Program execution stands by for positioning completion input after the instruction pulse is output.
9-4 Mode setup methods [1] Mode 0 Stepping/servo motor system (both) Wire the encoder. Set the count direction for encoder input at parameter 2 - 0001. When an electronic gear is used, set the ratio between the output pulse and encoder input pulse at parameter 2 - 0030 to 0047. Electronic gear 1 (0030 to 0037) is the ratio setting for the instruction system, and electronic gear 2 (0040 to 0047) is the ratio setting for the feedback system. (⇒ See electronic-gear related setting restrictions.
[3] Mode 2 (1) Stepping motor system Wire the encoder. Set the count direction for encoder input at parameter 2 - 0001. When an electronic gear is used, set the ratio between the output pulse and encoder input pulse at parameter 2 - 0030 to 0047. Electronic gear 1 (0030 to 0037) is the ratio setting for the instruction system, and electronic gear 2 (0040 to 0047) is the ratio setting for the feedback system. (⇒ See electronic-gear related setting restrictions.) In this mode, the electronic gear must be set.
9-5 Electronic gear setup methods and restrictions Normally, all coordinate-related data of JW-12PS/14PS is managed in pulses. However, when electronic gears 1/2 in parameter are used, data can be managed in mm, for example. (Speed data also becomes mm/s, for example.) These electronic gears are used in closed loop control. Note, however, that care must be paid to the settings as the following restrictions apply.
[2] Restriction 2 when setting up the electronic gear All speed system data shown below is subject to the restriction in the following equations according to the setting of electronic gear 1 (M1/D1) as the pulse speed that can be output from this module is a maximum of 500 kpps (differential driver) or 250 kpps (open collector output).
(2) Electronic gear 2 M2 coefficient (encoder value) This value is the number of pulses that are returned from the encoder (PG) when the shaft that drives the table, for example, rotates one turn. D2 coefficient (encoder value) This value sets the travel distance when the shaft that drive the table, for example, turns one rotation. Determine any unit (µ m, mm, cm, m, degree, inch, etc.) as desired. Normally, set the same value as the instruction value D1 coefficient.
Chapter 10 Absolute System An absolute system can be configured on this module by using servo driver systems made by specific manufacturers. In an absolute system, the present value is not cleared from memory even when the module is powered OFF. Absolute values held on the driver side are automatically read by communications when the module is powered backed ON or when the absolute present value read relay is turned ON. A system combining an absolute system and closed loop control can also be configured.
[3] Absolute system setup procedure Wire connector CN1 for tool connection and the driver communications connector for this module. (See below.) • This module is not provided with the communications connector for this module, and must be prepared by the customer. Page 4-3 lists the model No. and manufacturer of the connector. Make the various settings on the driver side. • The following describes the switching settings. For details, see the User's Manual for the driver.
Wiring between this module and driver (X-/Y-/Z-/A-axes) JW-12PS/14PS Connector for tool connection (CN1) TXD 1 /TXD 10 RXD 9 /RXD 6 GND 11 FG 12 * Driver side communications Driver side communications switch setting connector X-axis GPPA1-CN3 (when 4 axes are used) X-axis 8 TD+ SW1 7 TD1 : OFF, 2 : OFF, 3 : OFF (address 0) 4, 5 : OFF (termination resistance OFF) 6, 7 : OFF(RS-485A communications) 8 : (alarm OFF) SW2 1 : ON, 2 : OFF, 3 : OFF, 4 : OFF 1 SG Y-axis Y-axis GPPA1-CN3 SW1 1 : ON, 2 : OFF, 3 : OFF
Reference Connection between driver, power supply and motor (absolute encoder made by Nikon) Driver (GPPA1 Series) TB1 r t E R S T 1 2 3 4 5 6 RB1 RB2 7 8 U V W E 9 10 11 12 r t Control power input, single-phase 200 V R Mains power input, S 3-phase 200 V T Externally generated resistance (optional) Motor option cable 1 2 3 4 Motor Ground CN2 10 A+ AB+ BZ+ ZSD+ SD- 1 2 3 4 6 7 8 9 1 9 2 10 3 11 4 12 5 6 13 14 7 15 16 CLR 13 +5V 5 SG 10 E 15 Encoder option cable (GP-EAC) • For details, s
[4] Reading absolute values On this system, the absolute value is automatically read to the driver from this module when the module is powered ON. At this time, a retry is performed for five seconds until reading is completed in consideration of the driver's startup time. If data is not returned from the driver during these five seconds, an absolute driver communications error (error code 016) occurs.
[5] Matching the mechanical origin on an absolute system The origin on an absolute system becomes the origin of the absolute value encoder. When there exists a mechanical origin on a workpiece, the origin can be matched by the following procedure. Set parameters 1 and 2 so that zero return can be performed in an absolute system. At this time, set the origin compensation data to "0". After finishing setting, block transfer the settings and save the block data (save to flash ROM). Perform a zero return.
Chapter 11 Other Functions 11-1 Jog operation The following describes the various data and operations when jog operation is performed. [1] Outline of function Operation is started up on axes in the specified direction, speed and acceleration time while jog is ON. When jog turns OFF, operation decelerates at the specified deceleration time and comes to a stop. [2] Jog operation execution procedure Set the speed instruction value and acceleration/deceleration time No. to the operation data area.
[4] Timing chart The following shows the timing chart during jog operation on the X-axis. JOG+ (n+02006) Target speed Speed Acceleration Pulse output Deceleration Startup speed Busy flag (n+00002) n is the top address (in relay units) of the special I/O data area. [5] 1-second wait operation (inching) When parameter 1 address A+0075 bits 0 to 3 are set to "1" (BCD), the 1st pulse is output, and continuous pulses are output after a 1-second interval.
11-2 Teaching The following describes data and operations when teaching is performed. [1] Outline of teaching function The present position is captured to the position data No. (teaching address) during teaching. The teaching mode is entered at the ON rising edge of teaching, and the present position is captured to the position data at its falling edge. • Perform teaching after the origin has been confirmed. The present position unconfirmed error (error code 039) occurs if the origin is not confirmed.
[3] Assignment of operation relay and operation data settings I/O Byte address of data memory Function Bit X-axis Y-axis Z-axis* A-axis* Output Busy flag 5 Teaching completed 0 Teaching 0000 0020 0040 0060 0202 0222 0242 0262 0 Non-busy state 1 Busy state ↑ Completed At start ↑ Input 2 0204 0224 0244 0264 0 to 7 Position No. at teaching (00 to 99) *JW-14PS • "****" in N+**** indicates the numerical value of the address.
11-3 Interrupt jog feed The following describes the various data and operations when interrupt jog feed is performed. To use the interrupt jog feed function, be sure to set parameter 1 (address A+0076 bits 0 to 3) to "1". • Operation mode setting of general-purpose input (parameter 1 - address 0076 bits 0 to 3) Description Setting value 0 1 2 Remarks Regular input (Operation state of general-purpose input relays is monitored.) Default Interrupt input (Speed control is switched to position control at ↑.
(2) Program operation step data The following typical example of speed control describes program operation when operation is started up by the following step data and an external interrupt is input. Step data at program operation in speed control of X-axis X-axis step data 2(BCD) Step No.1 3(BCD) X-axis designation ("1" in Hex) 3(BCD) Acceleration time No.2 (X-axis data) Operation pattern 3 (speed) Deceleration time No.3 (X-axis data) 22(BCD) Startup speed No.
[3] Startup by direct operation Operation starts up by speed control startup in direct operation, and program execution stands by for an interrupt input signal. [Description at direct operation] The general-purpose input signal functions as the external interrupt signal after speed control startup. The travel distance after an interrupt detection is the value set by the position instruction value at startup, and axes move by that value and come to a stop.
[5] Assignment of operation parameter and operation I/O data setting Assignment of special I/O data area I/O Byte address of data memory X-axis Y-axis Z-axis* A-axis* Input 0000 0020 0040 0060 (PC←PS) Output 0200 0220 0240 0260 (PC→PS) Bit Functions 0 Non-busy state 2 Busy flag 0 At program Startup 1 [↑] operation Startup 2 [↑] 4 5 1 Busy state At direct operation Position control/ speed control setting 1 Speed control startup *JW-14PS only • "****" in A+**** indicates the numerical value o
11-4 Forced intervention startup The forced intervention startup instruction is enabled only in program operation. It is used, for example, to avert the present operation in program operation in an emergency. [1] Outline of function The step No. to which forced intervention startup is specified. Pulse output of the currently executing program operation is stopped (without a deceleration) and execution is performed starting with the preset step No. at the ON rising edge of forced intervention operation.
[4] Timing chart The following describes the timing chart when the operation pattern of each step data is set as follows with the X-axis as an example. Step No.10, No.20: continuous Step No.11, No.21: single-step In this example, forced intervention operation of step No.20 is executed while step No.10 and 11 are being executed. Step No. (N+0203) 10 20 Startup (n+02000) Forced intervention startup(n+02014) Speed Pulse output Step No.11 Step No.21 Step No.10 Time Step No.
11-5 Deceleration stop The currently started up axis is made to decelerate and then comes to a stop. [1] Outline of function This function is executed at the ON rising edge of deceleration stop. When a deceleration stop is executed in program operation, operation stops by the data of the deceleration time No. set to the step data. Otherwise, operation stops by the deceleration time No. set in the operation data area.
[3] Deceleration stop during positioning (1) Deceleration stop during positioning by absolute value When program execution is stopped before the target position by deceleration stop, subsequent positioning can be resumed by starting up positioning. Startup Deceleration stop Speed Pulse output Step No.0 Step No.0 Step No.1 Time When "continuous" is selected as the operation pattern, positioning is executed at the target position of step No.
(3) Deceleration stop at linear interpolation operation Deceleration stop at linear interpolation is executed by the rising edge of deceleration stop execution (operation relay area) of one of the currently operating axes. For example, when linear interpolation is being operated on the X- and Y-axes, deceleration stop is executed at the rising edge of deceleration stop execution on the X-axis or deceleration stop execution on the Y-axis.
[4] Timing chart The following shows the timing chart when the currently started up X-axis is decelerated and stopped by direct operation.
11-6 Change present position Change the present position to any value. [1] Outline of function The value set to the operation data area is changed to at the ON rising edge of the present position preset. After this, the origin is in a confirmed state. When "0" is changed to, that position becomes the origin. The original position cannot be specified as this origin when a positional shift has occurred as it differs from the origin according to the external input signal.
11-7 Override Override is used to change the speed of axis startup. [1] Outline of function While override enable is ON, the override set to the operation data area is captured to change the target speed. An override within the range 1 to 999% is valid. The target speed set in program operation, direct operation and jog operation is set as 100%. Override 100 Target speed = Specified speed × An override applied on pulse output during a zero return is invalid.
[3] Timing chart The following shows the timing chart for when the target speed is changed by the override while jog operation is being executed on the X-axis. In this example, the specified target speed is taken to be "1000 pps.
11-8 Clear error [1] Outline of function When the following inputs turn ON on this module, pulse output is interrupted and pulses are not output from then on: • Emergency stop input signal • CW limit input • CCW limit input • CW/CCW software limit • Driver error input After each of the above inputs are turned OFF, pulse can be output by the ON rising edge of error reset.
[4] Timing chart The following shows the timing chart when the emergency stop input signal turns ON during execution of direct operation on the X-axis. This timing charts assumes that the setting (parameter 1) for setting to an origin unconfirmed state is turned ON by the emergency stop input signal. Emergency stop input signal (input on this module: CN2/3 pin No.
11-9 Clear deviation output Clear deviation output (CN2/3 pin Nos.6 and 18) turns ON for about 20 ms according to the change in state of the clear deviation relay from OFF to ON. Clear deviation is enabled only in a stopped state. The state of the present value is as follows: 1. When this module is used in an open loop control system, and clear deviation is output, the present value (origin) becomes unconfirmed. 2.
11-10 Backlash compensation [1] Outline of function "Backlash" is the gear meshing error that occurs between the drive shaft and the mechanical system that is driven. When backlash occurs it causes a proportionate amount of shift in positioning from the forward direction and from the reverse direction. Backlash can be compensated to eliminate this shift. Setting value (BCD) Description Set the compensation amount (P) of backlash (error on mechanical system).
[4] Backlash compensation at linear interpolation Backlash compensation can be set to operate on individual axes during linear interpolation on two or more axes. While backlash compensation is being output, pulse output on other interpolated axes is stopped.
11-11 General-purpose input The general-purpose input signal is captured directly on this module, and sets its operation mode to parameters. • General-purpose input operation mode setting (parameter 1: address A+0076 bits 0 to 3) Setting value Description Remarks 0 Regular input (Operation state of general-purpose input relays is monitored.) Default 1 Interrupt input (Speed control is switched to position control at the rising edge of the general-purpose input signal.
11-12 General-purpose output The general-purpose output signal is captured directly on this module, and sets the operation mode to parameters. • General-purpose input operation mode setting (parameter 1: address A+0076 bits 4 to 7) Setting value 0 1 Description Remarks Regular output (The state of the general-purpose output relay is output.
Chapter 12 Trial Operation Trial operation by the following procedure comes in handy when wiring for positioning or when setting up system memory. 1 Set the switches on the module. Set the MODE switch on the module to match the axis to be displayed. 2 Install this module. Attach the JW-12/14PS to the rack panel. 3 Wire the module. Wire the module referring to "Connection method." 4 Turn the PLC and this module ON. Turn the PLC power supply and external power supply (24 VDC) ON.
11 Perform jog operation. Perform jog operation to test if the jog speed is appropriate. • For details on the jog operation method, see "Chapter 10 Jog Operation." • To disable jog operation when the module is used in closed loop control, cancel closed loop control in parameter 1. If jog operation is performed with jog operation disabled in parameter 1, check the wiring of the pulse generator (encoder) as miswiring is a probable cause. 12 Perform a zero return.
Chapter 13 Troubleshooting 13-1 Checks to perform when an error occurs and how to recover from an error Perform the following to recover from errors that occur. At power ON and at startup of this module (when confirming operation after setting parameter or various data) When this happens, check the hardware and the various block data on this module. Eliminate the cause of the error following the error code displayed at this time.
Table 3: Present value when a 24 V power error or emergency stop error occurs Parameter 2 Signal input Parameter 1 Content of parameter Emergency stop 0 Pulse output only is stopped. input function selection Pulse output only is parameter 1 1 stopped and reset of the deviation address 0005 clear is output.
13-2 Cautions in system configuration with servo driver There are four ways to configure this module and the servo.
(2) When an incremental type driver and encoder feedback are used When powered ON, this module clears the present value to "0" (zero). Also, when a zero return is performed, the position where zero return ends becomes "0". When an error (emergency stop, etc.) occurs and the servo is turned OFF, perform zero return by the following procedure: Clear the error. Clear deviation. ( The present position from the encoder feedback counter is adjusted.) Turn the servo ON.
13-3 Error tables The order of priority when an error occurs is as follows: X-axis, Y-axis, Z-axis and A-axis. When all errors on the X-axis are cancelled, errors for the Y-axis are then displayed, and so forth. When the Xaxis is in error, the X LED blinks, and other LEDs are out. (Even if an error occurs on other axes, the LED for that axis does not blink until errors on the X-axis are cleared.) When an error common to all axes occurs, all LEDs for the X, Y, Z and A axes blink.
Error code Detection timing Error item Content/cause of error Operation state at error The driver is in error, and an error signal from the driver has been Driver error detected. detection (on individual axes) (Normally, the driver ready signal becomes OFF.) 013 At all times 014 There was no positioning completion Completion signal At positioning signal from the servo error completion (on individual axes) driver within the preset time.
Error code Detection timing 030 031 032 033 034 At all times At all times Error item Software limit CW limit end detection (on individual axes) Software limit CCW limit end detection (on individual axes) Content/cause of error Operation state at error Remedy The axis arrived at the CW limit end of the software limit. Before startup, an error is output and operation is not started up.. During operation, an error is output and operation is stopped.
Error code Detection timing 035 037 039 Error item Content/cause of error Operation state at error Remedy The step data or An error is output step No. is not and operation is not contained in the started up. data at program operation startup. Enter the correct step data or step No. and reset the error. At startup Program operation data area (on individual axes) At data registration The coordinate Teaching No. error No. at writing of (on individual axes) teaching data is out of the setting range.
Error code Detection timing 2** 3** 4** 5** 6** 70* 71* At data transfer At data transfer At data transfer At data transfer At data transfer At data transfer Error item Content/cause of error Operation state at error Remedy Parameter 1 error The value of parameter 1 has exceeded the setting range. The problem location (address) in the parameter is the location marked "**". Before startup, an error is detected and operation is not started up..
Error code Detection timing 72* 73* 74* At data transfer At data transfer At data transfer Error item Content/cause of error Operation state at error Remedy The value of the M output data has exceeded the setting M output data error range. The problem location (M output No.) in the deceleration data is the location marked "*". Before startup, the error is output and operation is not started up.. During operation, the error is output, and operation is stopped.
Appendix Appendix 1 Setting the sinusoidal acceleration/deceleration speed Set the acceleration/deceleration curve in sinusoidal drive to parameter 1 address A+0074. (1) Ramp drive: setting value 00 Ramp drive is as follows in point-to-point control. (2) Sinusoidal drive: setting value 01 to 99 Sinusoidal drive, normally, is used for smoothing movement of externally connected machines. As shown below, the larger the numerical value set, the smoother (rounder) the curves of angles of the ramp become.
Appendix 2 Way of thinking behind interpolation and maximum speed of each axis When two axes have been started up in direct operation using interpolation, the speed of each axis may exceed the maximum speed determined in parameters.
Appendix 3 Way of thinking behind acceleration/acceleration time The acceleration time is the time from speed 0 up to when reference speed (parameter 1 address A+0010 to 0013) is reached. The deceleration time is the time from the reference speed up to when speed 0 is reached.
Appendix 4 Ladder programming of various operations The following pages show an example of a ladder program (simply called "ladder example" from here on) relating to operation of this module. This ladder example is for the X-axis when the top address of the special I/O data area is set to 1000. The following explains various operations. Jog operation Jog operation is performed in the + direction for the duration that 6000 is ON.
Selection of program operation continuous/single-step startup When 6040 is OFF, continuous operation is started up when program operation is started up. When 6040 is ON, single-step operation is started up when program operation is started up. Program operation startup (step No. enabled) When 6041 turns ON, program operation using the step No. is performed. (In the ladder example, program operation is started up from step No.3.) Program operation startup (step No.
06000 F-044 ↑ Speed instruction value F-091 BCD8 0000 2000 1214 Speed data 06001 F-044 ↑ Speed instruction value F-091 BCD8 2215 0000 1214 Speed data 06000 JOG+ 12006 06001 JOG12007 06005 Teaching 12020 F-044 ↑ TU position No.
06031 Position instruction value F-044 F-091 BCD8 ↑ 3050 0000 1210 Coordinate data Speed instruction value F-091 BCD8 1125 0000 1214 Speed data Execution of direct operation by - direction incremental value coordinate Direct operation startup 12004 Indicates - direction 06032 F-044 F-091 BCD8 ↑ Position instruction value 1050 0000 1210 Coordinate data Speed instruction value F-091 BCD8 0020 0000 1214 Speed data Direct speed /position 12005 Execution of speed control operation in - (C
06043 F-044 ↑ Step No. F-001 BCD 10 1203 Program operation step No. Step No. enabled 12002 0: No. enabled / 1: No. disabled Execution of forced intervention startup up at step No.
Appendix 5 Table of block data for each axis applied to file 1 with sample ladder program used When setting the various block data to file 1, refer to the byte addresses listed in the table below. [1] For X-axis Block No.
A Block No.
Block No.
A Block No.
Block No.
[2] For Y-axis A Block No.
Block No.
A Block No.
Block No.
A Block No.
[3] For Z-axis Block No.
A Block No.
Block No.
A Block No.
Block No.
[4] For A-axis A Block No.
Block No.
A Block No.
Block No.
A Block No.
