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XCM motion controller

1. 1 input terminal power supply 11 mounting hole 2 input label 12 screw 8 expansion BD port 13 input LED 4 COM2 14 LED 5 COMI PWR power supply 6 cover RUN program run 7 output label ERR error output terminal 24V output 15 expansion cable 9 output LED 16 output terminals expansion module port 17 PWR power LED 18 expansion module port 19 input terminal power input XCM series 60 point main units 36 Input 24 Output COM X1 X3 X5 X7 X11 X13 X15 X17 X21 X23 X25 X27 X31 X33 X35 X41 X43 COM XO X2 X4 X6 X10 X12 X14 X16 X20 X22 X24 X26 X30 X32 X34 X40 X42 OV YO Y1 Y2 COM3 5 Y6 5 1 Y12 COM6 COM7 15 Y17 Y20 Y22 COM9 Y25 Y27 24V COMO COM2 Y3 Y4 COM
2. l 199 4 _ 73 3 O 01234567 10 11 12 13 14 15 16 17 e g4 Thinget 20 21 22 23 24 25 26 27 s Gmg 30 31 32 s 3358 ae 1 O gt XCM 60RT E s ro PORT PORT2 ERRO s Y 01234567 BUM I 10 11 12 13 14 15 16 17 20 21 22 23 A 2 ov 1 CANT oA mom mis NA CRM MAC CONS 7 1 I T l ca do 45 1 co c VY 1 1 M K A J Power specification I O specification external layout 1 3 Terminal arrangement ID 2 62 22 gt Gp Gp DOO 62 62 62 6969 68 D 13 X15 X17 X21 X X X11 E G COM XO X X4 X6 X10 X d 012345 6 7 1011 12 13 Thinget 14 15 16 17 20 21 X PIRO Y XC3 32R E RUN A POR ERRO Y 012345 CH GY 6 7 1011 12 13 415 A 2 7 5 5 T T P 4 M Y X14 X16 X20 OS
3. 012345 6 7 1011 12 13 2 OF 3 Thinget 14 15 16 17 202 s m Ka gt gt N AN lt H Z PWRO 382 C XCM 32RT ERINO S rd PORT1 PORT2 gt ERRO RRR 012345 rh 6 7101112 13 m 4 15 A 5 idit ov A COMO COM1 2 0 Gee XCM series 60 point main units
4. Note For XCM 60T E when connect the optical coupling output to the load please use output terminal Y12 Y23 34 The following 15 the wiring diagram of RT type PLC and servo driver PLC YO COMO Servo driver E COM PUL amp A Pulse S E PUL 6 DC24V 2K O DIR amp qe _A Direction DIR DC24V If external power supply is DCSV there Is no need to connect 2KQ resistance 35 3 Motion control instruction parameter special data register and auxiliary relay The chapter introduces XCM motion control instruction function motion control parameter special data register and auxiliary relay In the end of the chapter we select two examples for reference 3 1 Soft element ID list 3 2 Motion control instruction list 3 3 Instruction explanation reading method 3 4 Output terminal arrangement table 3 5 Motion control instruction explanation 3 6 Motion control parameter list
5. 40 3 555 HOW TO READ THE INSTRUCTIONS 41 3 4 OUTPUT TERMINAL ARRANGEMENT TABLE a 42 3 5 MOTION CONTROL INSTRUCTIONS Lu iod uu u ieee kiya 43 3 65 MOTION CONTROL PARAMETER EAS ASAS 62 IA DARE GS II ROTE IS id 66 IES DPECIALAUXICIARY RELAY LIST ne mm OO 67 See AOS tesa 68 E 74 APPEND Sres 83 BASICORDERCONTROEINSTRUC LION LIS Ta ES 85 APPLICATION INS TRUCTON IIS u u u 87 SPECIAL TIONUINS TRUC TON DIST sug u lna 90 2 4 HIGH SPEED COUNTER ASSIGNMENT a EE dE 91 4 5 EXTERNAL INPUT INTERRUPTION ASSIGNMENT 93 40 EREQUENC Y MEASUREMENT uu maana anu n a a Crate D cnc ah ta alin tan uud cM ES 94 XCM motion controller features gt The PLC integrate motion control function and ordinary PLC function in one XCM motion controller not only supports proprietary function but also majority functions of ordinary PLC including high speed pulse high speed count interruption PID control etc Support at most 10 axis pulse output function XCM series contains 3 4 10 axis pulse output meet users control demands Predominant motion control capability
6. pulse External input X5 22 of X axis crawling speed which f X axis need to be count a E o w G O The following is the detailed explanation of motion control parameters PARA 1 Pulse rate Set the X axis pulse number per revolution which add to the driver unit Setting range 1 65535 PLS REV pulse revolution When the servo motor 15 equipped with an electronic gear its magnification should be taken into account The relationship between the pulse rate and the electronic gear is as follows Pulse rate PARA 1 Resolution of encoder positioning feedback pulse electronic gear PARA 2 PARA 3 PARA 4 set the Y axis Z axis U axis pulse number per revolution add to the driver unit The basic settings are the same as 1 63 5 Feed rate Set the trip of the machine per rotation of the motor Setting range 1 999999 um REV mdeg REV 10 minch REV PARA 6 PAARA 7 PARA S set motor per rotation trip of Y axis Z axis U axis The basic settings are the same as 1 PARA 9 Maximum speed default speed The machine runs as this speed if there is no appointed speed in positioning program Other speed must be set equal to or less than this speed Setting range 0 200000 Hz Notes the highest speed is 80K Hz for LIN and CW CCW instructions PARA 10 Acceleration time Set the time of achieving the maximum speed Setting range 0 5000ms When PARA 10 is 0 the machine actually accel
7. If there is no appointed speed for the first and second axes the PLC will do linear interpolated positioning at the highest speed 2 x LIN k1000 k1000 CS The first axis target position coordinates Operand K TD CD D FD D The second axis target position coordinates Operand K TD CD D FD e This instruction uses two axes to move the machine to target position through beeline O INC and ABS will define whether the target position is incremental or absolute value The default operation is double words when the target position and speed are appointed by registers y 4 3000 2000 3000 2500 m ABS 2000 1000 2000 1500 1000 LIN 1000 2000 K5000 500 e i ie ABS 0 0 500 1000 1500 2000 2500 3000 X Absolute drive method LIN K1000 K2000 K5000 this instruction moves the machine to the target position 1000 2000 with linear interpolated positioning at the speed of 5 KHz 53 CW CCW Circular interpolation Applicable model 32 16 digit instructions 32 digit instructions The following HE CW k100 k100 100 k100 k100 k100 TS S o X y Function run circular interpolation at certain speed according to the center position and target position of first and second axes The coordinate plane will be defined by PL
8. Poite Disable Input Rising Falling interruption interruption interruption X2 10000 10001 M8050 10100 10101 M8051 10200 10201 M8052 10300 10301 M8053 93 Appendix 4 6 Frequency measurement XCM frequency measurement input XCM 32T E X 3 XCM 32T E 3PLS X7 Notes X7 and YO of XCM 32T E 3PLS cannot work at the same time 94 Xinje Electronic Co Ltd 4th Floor Building 7 Orignality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85134136 Fax 510 85111290 www xinje com
9. x TIM K1000 Applicable models SL Delay time Dwell operands TD CD D Use this instruction to set the waiting time between completion of one instruction and execution of another 58 Time TIM O Unit is 1105 K1000 means delay 15 The value of delay time is indirect set by data register Default 15 double words operation PLAN KO K1 ABS SETP KO KO INC LIN K1500 KO KO K1000 TIM K1000 LIN KO 2000 K1000 As the ladder chart delay Is after the completion of linear interpolation then run the second linear interpolation instruction Please see the following instructions LD PLAN KO KI ABS SETP INC LIN K1500 K1000 TIM LIN KO K2000 KO 1000 59 FOLLOW Following instruction Applicable models XCM 32 16 bit instruction 32 bit instruction As follows FOLLOW C630 K20 x Yl High speed counter it can be AB phase single phase or direction pulse Operand K 10 is multiplicative coefficient operands K TD CD D FD Operand K20 is divided coefficient operands K TD CD D FD Operand YO is port No of pulse output Operand Y 1 is port NO of pulse direction output SD 52 s gt E
10. 2 1 Power specification For the power specification of XCM motion controller basic units please see the following table Rated voltage AC100V 240V Voltage allowable range AC9OV 265V Rated frequency 50 60Hz Allowable momentary l Interrupt time lt 0 5 AC cycle alternation 1 s power cut t me Impact current Max 40A 5mS below AC100V max 60A 5mS below AC200V Max power consumption 12W Power for sensor 24VDC 10 max 400mA e To avoid voltage decrease please use the power cable above 2mm Even power off within 10ms PLC still can work But if power off for long time or abnormal power voltage decreasing PLC will stop working output will be in OFF status when the power on again the PLC will auto run Connect the ground terminals of basic units and expansion modules together and then ground Rated voltage DC24V Voltage allowable range DC21 6V 26 4V Input current 120mA DC24V Only for basic unit Allowable momentary 10mS DC24V power cut time Impact current 10 DC26 4V Dw Power for sensor 24VDC 10 400mA Power specification I O specification external layout 2 2 AC power supply DC input DC 247 L AC100V AC240V Sensor provide AC DC convert H 5OHZ B HZ power The power is connected between L and N terminals 24 terminals can be used as 400mA DC24V power for sensor Besides this terminal can t be given power from outside Terminal i
11. Following instruction can output 4 or time of the high speed counter signal The output frequency will change as the input frequency the pulse quantity 15 calculated by multiply divide coefficient e The meaning of following is geometric magnify or minify the high speed counter signal then add pulse forward or backward via phase checking finally output the pulse in the mode of pulse direction e The output pulse quantity depends on C630 The pulse quantity is 4 times of 1 time pulse input mode when selecting 4 time pulse input mode e This instruction is used to adjust the digital control system Control the back forward of the operation table by manual pulse generator It also can be applied 1n some cases need precise synchronization 60 FOLLOW instruction diagram take YO as an example Feed forward Following Pulse Frequency High speed EM compensation multiplication counter M coefficient input factor FD8241 C630 divide range 0 100946 Following fine tuning value 08502 100 100 X axis i Position Following position pulse quantity register Calculation D8500 Pulse output YO 08482 The relationship between FOLLOW and motion control instructions FOLLOW can be used independently without motion instructions However it needs to build the relationship between FOLLOW and motion control instructions when need manual pulse generator to adjust coordinates position The pulse quantity is
12. back to zero e Program Ladder chart 78 FO 05 Motion control instruction parameter special register and auxiliary relay explanation 9260 Y12 XD M10 W412 5 M10 Y12 0 M12 M12 TO K15 TO M12 Pe Y12 M13 5 M13 T1 K15 T1 M11 a M13 R 79 Motion control instruction parameter special register and auxiliary relay explanation M10 91 A wasa DRY K2000 KO M8260 M10 5 Yt 12 51 05 5 138 STLS 51 T200 15 JY T200 20 DRV KO KO xs 51 28 R 32 L sTLE Instruction LDP M0 OUT CO countthe starting times LDP CO when starting at the first time set on process SO SET 50 STL 50 LD 50 OUT T201 K5 LD T201 RST M10 RST ABS DRVZ go back to electrical zero DRV KO KO fast position to 0 0 SETR set the current position to electrical zero LDP XI RST 80 STLE LDP MO not start MO at the first time RST RST LDP OR ANI LDF AND ORB ANI OUT LDP MCS LDI SET LD RST LD SET MCR LD OUT LD RST LDF SET LD OUT LDP SET RST LDI MCS CHK INC DRV LDF SET MCR LDP ANI ANI SET STL M10 MO TO M8260 Y12 M10 Y12 M10 Y12 M8000 M12 M12 TO TO M12 Y12 M13 M13 5 TI M13 M10 1 K2000 KO M8260 M10 XI 12 SI SI Motion control instruction parameter special register and auxiliary relay explanation reset M11 and M10 when MO turns mov
13. 3 axis current coordinates position 08489 3 axis The No of current running motion 08490 control instruction Current segment only 5 Current segment D8491 points to motion control instructions General PLC instructions not included in it 66 Current pulse The pulse number output by FOLLOW instruction number of following Fine tuning Increased or decreased pulse number in pulse number of one scanning period It resets after the following scanning period 3 8 Special auxiliary relay list Special Default NO d Function Explanation auxiliary relay value M8260 Flow control bit See 1 Forbid X axis P When this bit 15 ON the return to zero M8261 return to machine Nn instruction of this axis will not work zero bit Forbid Y axis TERT When this bit 15 ON the return to zero M8262 return to machine MUN instruction of this axis will not work zero bit Forbid Z axis P When this bit 1 ON the return to zero M8263 return to machine mE instruction of this axis will not work zero bit Forbid U axis When this bit 15 ON the return to zero M8264 return to machine ee instruction of this axis will not work zero bit X axis return to When running DRVZ this bit will from M8265 machine zero end ON to OFF when machine reach the zero bit point this bit become ON see Note 2 Y axis return to When running DRVZ this bit will from M8266 machine
14. 0 0 50 100 150 200 250 300 x After ABS instruction the LIN instruction will do linear interpolation according to the absolute coordinates INC incremental address INC After the implementation of INC instruction address X Y will be recognized as incremental value of the current position e INC instruction is similar to ABS once INC is executed it will be effective until ABS 1s 46 executed INC LIN K200 KO Y 300 e 100 250 300 250 250 200 150 100 q E 4 1 E lt 0 0 50 100 150 200 250 300 X After executing INC instruction LIN instruction will do linear interpolation according to the incremental address relatives to the current position In the up diagram same coordinates produce different results by using ABS and INC instructions SETR set electric zero Suitable type x 47 The current position will be stored into the electric zero register the original zero will be replaced After executing SETR instruction the current coordinates 100 250 will be stored into electric zero register For actual applications this instruction can simplify the coordinate system 300 sei 100250 Electric zero 200 150 100 50 e d sum 0 0 50 100 150 200 250 300 X DRVR electric return to
15. CHK operand X 5 The machine moves from to to C If inserts CHK between LIN the trajectory is like solid line If no CHK the trajectory is like dotted line 56 200 250 INC 250 LIN K150 K200K0 5000 200 CHK 150 LIN K50 K 150 5000 250 100 100 0 0 50 100 150 200250 X The machine moves from A to B to C to D to E to A Please see the solid line in the following diagram In the program select the XY plane at first Select absolute drive mode set the coordinate system to KO KO At this time select incremental drive mode in order to measure the coordinate system After completion of the first linear interpolation instruction run CHK MO to cause pause which avoid smooth curve It runs the next LIN instruction when MO is ON PLAN KO ABS 100 200 SETP KO KO 250 EN 200 200 INC LIN K100 KO KO K100 CHK MO 150 LIN KO K200 KO K100 100 CHK MI CW KO K50 KO KO K100 gt BY i E 200 0 CHK A X LIN KO K 200 KO K100 0 0 50 100 150 200250 CHK LIN K 200 K100 27 When there are many plane conversions in the program select XY plane and do circular interpolations in incremental mode then insert CHK and select YZ plane PLAN KO INC CW KO KO K15000 KO KO D2 CHK PLAN K2 INC LIN KO 10000 KO D2 N TIM Delay 51
16. It can make 2 axis linkage motion support basic motion control instructions such as circular linear interpolation etc Plane transformation Support PLAN instruction can transform among plane X Y Y Z X Z etc Can expand XC series digital analog module and BD board Similar to XC series XCM series also support module and BD board expansion including digital I O temperature control and analog module etc Tracking control function XCM 32T E 3PLS has tracking control function which is suitable for continuous processing It can realize fixed length and fixed scale working XCM serials including models gt gt gt XCM 32T E 4 axis pulse output transistor output XCM 32T E 3PLS 3 axis pulse output transistor output XCM 60T E 10 axis pulse output Supplement explanation The instruction noted in this manual is motion control function instructions other instructions such as sequence control application or special function instructions please refer to XC series PLC user manual Notes 1 XCM 60T E can expand BD board but cannot expand modules 2 XCM 60T E cannot support motion control instructions Remark XCM motion controller summarize 1 XCM motion controller summarize The chapter focus on XCM series product general specifications appearance and dimension terminal arrangement and the definition of each communication pin 1 1 Internal specification 1 2 Appearance and dimen
17. XCM Pr Feedback pulse locating feedback pulse quantity pls rev Pp The screw pitch of ball screw No The rotation speed of servo motor r min CMX The numerator of servo driver command pulse amplification electronic gear CDV The denominator of servo driver command pulse amplification electronic gear When the servo motor reaches the rated rotation speed XCM needs to output the maximum command pulse frequency here we select 200 KHz The result is as below CMX NO 1 256 CDV 60 f 125 So set UCMX 256 CDV 125 in servo amplifier 74 Motion control instruction parameter special register and auxiliary relay explanation 2 Pulse rate and feed rate Deduce pulse rate and feed rate according to the following steps 1 Pulse rate means the pulse quantity of servo motor rotating a circle it can calculate pulse rate as the following formula 1 A CDV Substitute the previous value CMX 256 CDV 125 into the formula then you will get the pulse rate 1 256 125 Pulse rate 8192 pls rev x 4000 pls rev 2 Feed rate means the motion quantity of the work piece when servo motor rotates one circle When ball screw finishes one screw pitch Pp motor rotates N2 circles and the transmission ratio between motor and ball screw is N1 Feed rate P N2 Nl machine transmission ratio N2 rotate circle quantity Pp screw pitch of the ball screw Below is
18. following table X2 Flash ROM register does not have to set power failure retentive area its data won t lose when power 1s off No battery X3 The address of input coil output relay are octal data other No are all decimal data 4 The I O which does not connect to external device can be used as internal relay Soft element power off retentive area settings System Power off Name Area Function default value retentive range Start denotation of D FD8202 4000 D4000 D4999 power off retentive area Start denotation of M M FD8203 3000 M3000 M7999 power off retentive area Start denotation of T T FD8204 620 Not set power off retentive area Start denotation of C C FD8205 320 C320 C635 power off retentive area Start denotation of S S FD8206 512 5512 51023 power off retentive area Start denotation of ED ED FD8207 EDO ED36863 power off retentive area 39 3 2 Motion control instruction list Special for XCM series cow Notes XCM 60T E cannot support motion control instructions 40 3 3 How to read the instructions DRY High Speed Positioning l Bis amis atul Y high speed posionmug with the speed eae target position operands TD CD D FD lt 5 2 3 V axis target position operands E TD CD D FL The mestruction specifies the travel to the target coordinates with setti 6 Land v axes This metruction doem
19. gt S2 O II OR activates if 51 S2 gt Appendix XCH Exchange App o 88 Appendix Single word integer converts to double word integer 32 bits integer converts to float point 64 bits integer converts to float point Float point converts to binary BCD converts to binary Binary converts to BCD Hex converts to ASCII ASCII converts to Hex High bit coding Low bit coding Convert Float Float Zone compare Point Float Add Operation Float Subtract Float Multiplication Float Square Root ACOS Anti cosine Clock Read RTC data RD Operation Set RTC data Note refer to XC series instruction manual 89 Appendix 4 3 Special function instruction list Generic special instruction list PLSY PLSR PLSF Single segment pulse output without accelerate decelerate Single multiple segment with accelerate decelerate single double direction pulse output Variable frequency pulse output PLSNEXT PLSNT Pulse segment switch PLSMV STOP COLR INPR COLW MCLW REGR INRR REGW MRGW SEND RCV CCOLR CCOLW CREGR CREGW PWM FRQM STR El DI ZRN DRvA Absolute positioning Relative positioning Note refer to XC series instruction manual 7 90 Appendix 4 4 High speed counter assignment XCM high speed count input distribution as follows XCM 32T E Incremental mode Pulse direction mode AB phase mode Caps csodosaqpascscsrd psp descendie
20. m PLS Rising edge pulse X Y M 5 T C Dn m PLF Falline trailing ed l X M S T C Dn m Connect the public serial contactors Clear the public serial contactors The status of the assigned device 15 X Y M S T Cx Dn m inverted on every operation of the instruction No operation or null step Force the current program scan to end Start the fold of instruction group End the fold of instruction group Note refer to XC series instruction manual 86 Appendix 4 2 Application instruction list Application instruction kinds and corresponding kinds of each series showed as below Sort Mnemonic Function Condition jump CALL Call subroutine Subroutine return Flow start alg lt E STLE Flow end Program Open the assigned flow close the current flow Flow UN Open the assigned flow not close the current flow FOR Start of a FOR NEXT loop NEXT End of a FOR NEXT loop FEND First end LD activates if S1 52 LD LD activates if S1 gt S2 ID LD activates if S1 lt 52 LD lt gt LD activates if S1 S2 LD lt LD activates if S1 lt S2 LD gt LD activates if S1 gt S2 Data Compare AND AND activates if S1 82 AND gt AND activates if SI gt S2 AND lt AND activates if S1 lt 82 AND lt gt AND activates if 51 S2 AND lt AND activates if S1 lt 2 AND gt AND activates if S1
21. of current pulse quantity f D8774 Low 16 bit of current pulse quantity ls D8775 High 16 bit of current pulse quantity f 108776 Low 16 bit of current pulse quantity D8777 High 16 bit of current pulse quantity ___ L D8778 Low 16 bit of current pulse quantity D8779 High 16 bit of current pulse quantity __ 108780 Low 16 bit of current pulse quantity 108781 High 16 bit of current pulse quantity C L ising t Beo PULSE 1 sz Fling ime of origin returning instruction 0 D8232 Rising time of absolute relative positioning instruction Y 1 PULSE 2 D8233 Falling time of origin returning instruction YD D8234 Rising time of absolute relative positioning instruction Y2 D8235 Falling time of origin returning instruction Y2 D8236 Rising time of absolute relative positioning instruction D8237 Falling time of origin returning instruction Y3 D8790 Rising time of absolute relative positioning instruction Y 4 25 D8792 Rising time of absolute relative positioning instruction Y5 EN PULSE 6 D8793 Falling time of origin returning instruction Y5 _ D8794 Rising time of absolute relative positioning instruction Y PULSE 7 D8795 Falling time of origin returning instruction Y 6 Low 16 bit of current pulse quantity PULSE 1 High 16 bit of current pulse quantity B Low 16 bit of current pulse quantity PULSE 2 High 16 bi
22. stored in register D8500 D8501 when running FOLLOW At the same time the pulse variation will be transformed into position variation of corresponding output axis and reflect in current axis register So FOLLOW and motion control instructions will constitute a whole unit FOLLOW can point at X axis Y axis Z axis U axis Make sure the direction of position and encoder 15 consistent the direction of FOLLOW and motion control must be consistent Such as the above example YO outputs the pulse the direction must output from Y4 Feed forward compensation coefficient XCM has delay from receiving to sending pulse Modify the feed forward compensation coefficient FD8950 to decrease the delay The range is 0 100 0 means no feed forward compensation Following fine tuning pulse quantity If the following runs for long time it may produce the pulse accumulated error which causes the motor pulse to lead or lag Modify D8502 can adjust the error of next pulse period If the motor leads set D8502 to negative if the motor lags set tt to positive The value in D8502 is effective In one pulse period D8502 will be reset after the fine tuning 61 3 6 Motion control parameter The motion control parameter can be set in special FLASH register Each parameter and corresponding XCM register address is as following PARA Special men Default Name Description NO register value FD8892 Pulse number per 1 Pulse rate X axis FD8893 revol
23. trealim miterpolation function Each ami e mann speed is specified parameter register FD2908 accel erationvidece eration speed is determined bey acceleration time parameter FDS910 and deceleration parameter PD3212 Whether the position 15 murernerntal distance from the zero poit or absolute distance from the zero pomt is specified by metruction ABS INC Wher the target position operate speed are specified by registers the system default them as double words Notes Instruction name 16 bits instruction and 32 bits instruction Applicable models S It denotes that the operand doesn t change with the instruction called source operand It denotes that the operand changes with the instruction called target operand 6 Successively explain the instruction s basic movement use method application example 1 2 3 Ladder chart illustration 4 5 expansion function notice point etc 41 3 4 Output terminal arrangement table There are rules for XCM output terminal function and related operation axis XCM 32T E Function Pulse output Direction output XCM 32T E 3PLS Function Pulse output Direction output 42 3 5 Motion Control Instructions PLAN select plane or space 16 bit instruction 32 bit instruction see the description below eRe x PLAN KO KI Function select axis X and Y for operation which is XY plane It defines the oper
24. 2W DC24V Lamp load 1 5W DC24V DCSV 2 Response Below 0 2ms OFF gt ON time Below 0 2ms gt 32 Power circuit specification input output specification external layout Output terminal The transistor output of basic unit has 1 4 common output External power supply Please use DC5 30V power supply to drive the load Circuit insulation Use the photo electricity coupling to insulate the PLC internal circuit and output transistor Beside each public block 15 separated Action display When driving the optical coupling LED lights output transistor is ON Response time From photo electricity coupling device driving or cut to transistor ON or OFF the time is below 0 2ms Output current The current is 0 5A per point But as restrict of temperature rising the current is 0 8A every four points Open circuit current Below 0 1mA 33 Power circuit specification input output specification external layout Optical coupling drive circuit To avoid burning output unit and the PLC PCB board please choose suitable fuse 1A COM Pe DC power Load DC5 30V Y 4 5 Y 6 Load
25. 3 7 Special data register list 3 8 Special auxiliary relay list 3 9 Application case 36 37 3 1 Soft element ID list XCM series soft element ID 15 as follows Besides when connect input output expansion device and special expansion device with basic units for the input output relay NO please see user manual Points Range Mark Name 32 points 60 points 32 points X X000 X021 Octal X000 X043 Octal 18 points Y000 Y015 Octal Y000 Y027 Octal 14 points 0 2999 M3000 M7999 8000 M Internal relay 60 points 36 points lt 24 points Special use M8000 M8767 768 S0 S511 Fl 1024 3512 51023 TO T99 100115 not accumulation T100 T199 100ms accumulation T200 T299 10ms not accumulation Timer T300 T399 10ms accumulation 640 T400 T499 Ims not accumulation T500 T599 1ms accumulation T600 T639 Ims with interruption precise timing 0 299 16 bits positive negative counter 5 T C Counter C300 C599 32 bits positive negative counter 640 C600 C639 high speed counter DO D2999 Data regist ata register D4000 D4999 4000 38 Special use D8000 D9023 FD0 FD63 FlashROM a register Special use FD8000 FD8349 FD8890 FD8999 Expansion internal ED0 ED36863 register NOTE 1 The is the defaulted power failure retentive area The retentive area of D M S T C can be changed For the details please see the
26. 500 F 4 4 ABS CW 000 K500 K200 K5000 Define the drive method 15 absolute address move along the arc whose center incremental address 15 200 0 at the speed of 5 kHz start from A 600 500 to B 1000 500 25 CHK Servo end check Applicable models ar XCM 32 16 bit instructions 32 bit instructions CHK Function the machine runs servo end checking after finishing the interpolation then runs another operation If there 15 no servo end checking the machine will run without pause when interpolating the turning point will become smooth curve Please note the following points when using motion control instructions 1 If insert CHK between 2 motion control instructions the trajectory will pause for a while when gets to appointed point then continue running the next instruction Otherwise the trajectory is a smooth curve 2 When continuous use PLAN please add CHK before the second PLAN otherwise the trajectory will deviate The coil can be contained in CHK The coil can stand for the positioning completion signal of the servo driver The machine will pause when running CHK The machine will run the next instruction when the coil is ON If the coil is always ON the function is the same as CHK without coil If the coil is always OFF the machine will stop and never go to the next instruction S x CHK 100 51 the coil of
27. 74 ON when overflow PULSE 2 overflow TN 32 bit pulse output M8177 ON when overflow PULSE 3 overflow M8178 1 15 positive direction related direction output ON M8179 Pulse output ON when pulse output 32 bit pulse output PULSE 4 M8180 ON when overflow overflow M8175 1 is positive direction related direction output ON 68 M8181 1 is positive direction related direction output ON M8730 Pulse output ON when pulse output 32 bit pulse output M873 1 ON when overflow PULSE 5 overflow M8732 1 is positive direction related direction output ON M8733 Pulse output ON when pulse output 32 bit pulse output M8734 ON when overflow PULSE 6 overflow M8735 1 is positive direction related direction output ON M8736 Pulse output ON when pulse output 32 bit pulse output M8737 ON when overflow PULSE 7 overflow B M8738 1 15 positive direction related direction output ON 5739 T M 32 bit pulse output M8740 ON when overflow PULSE 8 overflow M8741 1 is positive direction related direction output ON M8742 ON when pulse output 32 bit pulse output M8743 ON when overflow PULSE 9 overflow 8744 1 15 positive direction related direction output ON M8745 ON when pulse output 32 bit pulse output M8746 ON when overflow overflow M8747 1 is positive direction related direction output ON pulse alarm frequency M8210 1 is alarm 0 is correct change suddenly E PULSE 1 Whether to igno
28. A Y7 Y1 Y10 Y13 Y14 Y16 Y21 Y23 Y24 Y26 Power specification I O specification external layout XCM series 32 point main units 18 Input 14 Output N COM 1 X3 X5 X7 X11 X13 X15 X17 X21 L FG COM 2 4 6 X10 X12 X14 X16 X20 OV A COMO COM1 COM2 Y3 YS Y6 Y10 Y13 Y15 24V e B Y0 Y1 Y2 Y4 COM3 Y7 Y11 Y12 Y14 1 4 COM Port definition Pin of COM 1 2 PRG 4 RXD 5 TXD 6 VCC 8 GND Mini Din 8 core socket hole Pin of COM 2 4 RXD 5 TXD 8 GND Mini Din 8 core socket hole Connection of programmable cable as the following 9 6 Mini Din 8core socket pin DB 9 pin hole Power specification I O specification external layout 2 Power specification I O specification external layout This chapter focus on the power composing internal signal circuit composing output circuit composing and external layout method 2 1 Power specification 2 2 AC power supply DC input type 2 3 Input specification 2 4 DC input signal disposal AC power supply 2 5 Transistor output circuit and specifications Power specification I O specification external layout
29. AIRE XCM motion controller User manual Xinje Electronic Co Ltd Data No PC02 20080412 3 0 INE XCM Motion control type PLC User manual The first edition Xinje Electronic Catalog Foreword XCM motion controller summarize The power circuit specifications input output specifications and external wiring Action and function of various register motion control instruction explanation and parameters Appendix This manual includes some basic precautions which you should follow to keep you safe and protect the products These precautions are underlined with warning triangles in the manual About other manuals that we do not mention please follow basic electric operating rules Please follow the precautions If not it may lead the control system Precautions incorrect abnormal even cause fortune lose The models could only be used according to the manual and an only be orrec used along with the peripheral equipments recognized or recommended Application by Xinje Electronic They could only work normally in the condition of be transported kept and installed correctly also please operate and maintain them according to the recommendation Xinje Electronic Co Ltd Copyright reserved Without exact paper file allowance copy translate or using the manual is not allowed Disobey this people should take the responsibility of loss We reserve all the righ
30. AN CW is clockwise interpolation CCW is counterclockwise interpolation 2 The first axis target position coordinates operands K TD CD D FD S2 The second axis target position coordinates operands TD CD D FD Arc center position coordinates of the first axis operands K TD CD D FD SD Arc center position coordinates of the second axis operands K TD CD D FD 55 The third axis position operands K TD D FD Notes three axes motion control is not open so these parameters are not useful but they are reserved Circular peripheral speed operands K TD CD D FD The highest speed can up to 80 kHz for LIN and CW CCW instructions If the peripheral speed is not defined the system will default to the highest speed x CW k100 k100 k100 k100 The center coordinates of first and second axes will be seemed as incremental address based on starting point 54 Acceleration deceleration time of the peripheral speed is set individually in FD8910 and FD8912 O INC and ABS will define whether the target position is incremental or absolute value O It is default to double words operation when the target position or speed is defined by registers e Ifthe start position and the target position is the same the trajectory is a full circle The incremental address is 200 0 relative to the start DD 200
31. O RST Y10 MO INC Set to incremental address mode SETR Set the current location to electrical zero DRV K10000 Ko Position at coordinate 10000 0 M8260 DE sET vio When positioning ends sets on Y10 Y 10 RST MO A Position with reciprocating motion constant e Positioning summarize XCM controls work piece moving from left to right and controls work piece up down moving via electromagnet e Operate steps 1 Only the first time work piece returns to zero via starting command 2 The electromagnet YO turns on which moves down the work piece When lower limit switch turns on clamping electromagnet Y 1 turns on to clamp work piece 3 After 1 55 move down electromagnet YO turns off work piece moves up 4 When upper limit switch X1 turns on work piece moves right 5 When positioning device arrives at right side of the worktable 2000 0 move down electromagnet YO turns on work piece starts to move down When lower limit switch turns on clamping electromagnet 1 turns off the clamp loose to put down the work piece 6 After 1 5s move down electromagnet YO turns off positioning device moves up 7 When upper limit switch X1 turns on work piece goes back to the left side of worktable e Running diagram d Motion control instruction parameter special register and auxiliary relay explanation Machine zero Electrical zero 2000 Mover ent distance
32. accumulative pulse quanity Curent segment No nsegment ___ PULSE 1 High 16 bit accumulative pulse quantity MEE PULSE 2 Current segment No n segment Low 16 bit accumulative pulse quantity D8177 High 16 bit accumulative pulse quantity PULSE 3 D8178 Current segment No n segment D8179 Low 16 bit accumulative pulse quantity D8180 High 16 bit accumulative pulse quantity PULSE 4 08181 Current segment No n segment 70 08730 Low 16 bit accumulative pulse quantity Latched D8731 High 16 bit accumulative pulse quantity D8732 Current segment No n segment 08733 Low 16 bit accumulative pulse quantity Latched D8734 High 16 bit accumulative pulse quantity D8735 Current segment No n segment PULSE 5 PULSE 6 08736 Low 16 bit accumulative pulse quantity Latched Curent segmen No nsegmen PULSE 7 PULSE 8 PULSE 9 PULSE 3 The bit behind decimal point means X10 2 means X100 D8216 Error segment no PULSE 4 PULSE 5 PULSE 7 PULSE 8 1 D8758 segment no PULSE 9 D8760 segment PULSE 10 08190 08191 08192 08193 08194 08195 08196 08197 High 16 bit of current pulse quantity D8770 Low 16 bit of current pulse quantity 108771 High 16 bit of current pulse quantity ___ 108772 Low 16 bit of current pulse quantity D8773 High 16 bit
33. ation axis of all the following motion instructions 51 define the first operation axis the following instructions will recognize this axis as the first operation axis S2 define the second operation axis the following instructions will recognize this axis as the second operation axis Notes If do not use PLAN to define the plane X and Y axis are default operation axis Operation plane is X Y When ON select and K2 as operation axis which 15 Y Z plane Instructions LD MO PLAN KI K SETP K10000 K20000 SETP can set coordinate system instruction Change the current position register value to 10000 and 20000 for K1 and K2 axis 43 x x 7 plane SETP set coordinate system 16 bit instruction 32 bit instruction see the description below ERES x SETP K1000 K100 Function set the coordinate define the plane by PLAN instruction such as the up diagram the new coordinate is K1000 K100 51 Set the new coordinate of the first operation axis 52 Set the new coordinate of the second operation axis Notes The new coordinate will instead of the old one when this instruction is executed Besides the value in machine zero and electric zero registers have not changed so in fact the position of the machine zero and electric zero have changed Such as the following diagram in the original coordinate system
34. calculating process Feedrate B gt 5 5 rev 3 Convert motion quantity to pulse quantity Machine quantity Pulse quantity FT X pulse quantity of every motor rotation Motor feed rate per rotation We need the work piece to move 200mm then convert it to pulse quantity 200 mm mm rev Pulse quantity pls x 4000 pls rev 160000 pls So if the work piece moves 200mm XCM need to output 160000 pulses 75 Motion control instruction parameter special register and auxiliary relay explanation If the work piece moves at the speed of 30cm min then convert it to pulse frequency Pulse quantity Solem min 2101 60 x 4000 pis rev 22021700 4000 40002 m S saa rev 5 So if the work piece moves at 30cm min XCM should output pulse frequency of 4000Hz 3 Program explanation A Axis position control operation Positioning summarize positioning device only moves as the current motion quantity e Operating steps 1 When positioning device receives starting command it will move as current quantity When the moving ends sets ON Y10 e Motion diagram Speed Move distance X axis Start input turn on Output Y10 e Procedure 76 Motion control instruction parameter special register and auxiliary relay explanation iji H SET M
35. contactor LDP Initial logical tion Rising ed l nitial logical operation Rising edge pulse X Y M S T C FDnm LDF Initial logical tion Falling traili nitial logical operation Falling trailing X Y M S T C FDnm edge pulse AND Serial connection of NO normally open X Y M S T C Dn m FDn m contactors ANDD Directly read state from contactor ANI Serial connection of NC normally closed X Y M S T C Dn m FDn m contactors ANDDI Directly read NC normally closed X contactor ANDP Serial connection of rising edge pulse X Y M S T C Dn m FDn m ANDF Serial connection of falling trailing edge X Y M S T C Dn m FDn m pulse OR Parallel connection of NC normally X Y M S T C Dn m FDn m closed contactors ORD Directly read state from contact ORI Parallel connection of NC normally X Y M S T C Dn m FDn m closed contactors ORDI Directly read NC normally closed X contactor ORP Parallel connection of rising edge pulse X Y M S T C Dn m FDn m ORF Parallel connection of falline trailing edge X Y M S T C Dn m FDn m pulse ANB Serial connection of multiply parallel None circuits ORB Parallel connection of multiply parallel None circuits 85 Appendix Final logic operation coil drive Y M S T C Dn m Directly output to loop __________ Set a bit device permanently ON Y M S T C Dn m RST Reset a bit device permanently OFF Y M S T C Dn
36. e down electromagnet 11 turns on when move right is finished move down electromagnet 11 turns on when lower limit switch turns on clamping electromagnet Y 12 turns M12 is seemed as X0 lower limit switch sign delay for 1 5 seconds and clamping electromagnet turns on after 1 5 seconds loose the move down electromagnet delay for 1 5 seconds after 1 5 seconds turn off the move down electromagnet it moves up when X1 turns on fast position to 2000 0 when X1 turns on again start process S1 and fast return 81 LD OUT LD DRV LDP RST STLE Sl 1200 K5 T200 KO KO MO 51 Motion control instruction parameter special register and auxiliary relay explanation 82 Appendix 4 Appendix The chapter introduces the basic and applied instructions of PLC motion control instructions and parameters of motion controller 4 1 Basic order control instruction list 4 2 Application instruction list 4 3 Special function instruction list 4 4 High speed counter assignment 4 5 External input interruption assignment 4 6 Frequency measurement 83 Appendix 84 Appendix 4 1 Basic order control instruction list LD Initial logical operation NO normally X Y M S T C Dn m FDn m open contactor LDD Directly read state from contactor LDI Initial logical operation NC normally X Y M S T C Dn m FDn m closed contactor LDDI Directly read NC normally closed X
37. erates in ms PARA 11 Deceleration time Set the time to stop the machine Setting range 0 5000ms When 11 is 0 the machine actually decelerates in 1 ms PARA 12 X axis electric zero address The absolute address of DRVR instruction Setting range 999999 to 999999 The address is an absolute value PARA 13 PARA 14 PARA 15 set the electric zero absolute address of Y axis Z axis U axis The basic setting is the same as PARA 12 PARA 16 Machine zero address After the operation of DRVZ return to zero set the current address as the machine configuration Setting range 999999 to 999999 PARA 17 PARA 18 PARA 19 set the machine zero address of Y axis Z axis U axis The basic setting is the same as PARA 16 20 return to machine zero speed Set the speed when the machine is returning to the zero point the set value must be equal to or less than the maximum speed of PARA 9 Setting range 10 to 50000 Hz 64 PARA 21 crawling speed returning to the machine zero The low speed after the near point DOG signal external input X2 of X axis external input X10 of Y axis 1s turn on Setting range 10 to 50000 Hz PARA 22 zero point Z phase pulse number of crawling speed which needs to be count After near point DOG signal is triggered the external input X5 of X axis and external input X11 of Y axis receive the encoder zero point signal If this signal is equal to the appointed zero point pulse n
38. ndo Max 80K 10K 80K 80K frequency 4 time frequency LL Iu TET X u _ _ je fat ft BE o NE _ ___ xo u XCM 32T E 3PLS Incremental mode Pulse direction mode phase mode concede dcs scsi descendido Max 80K 10K 10K 10K 80K 10K 80K 10K frequency 4 time frequency xo ful x0 xo ful Ee xs xos Exe ful Notes X7 cannot work with YO at the same time 91 Appendix XCM 60T E Incremental mode Pulse direction mode AB phase mode cananfeaofesadc snes 80K 10K 10K 10K 80K 10K 10K frequency 4 time frequency pt tT U _ LLL L BE EN MN pul _ pu me pt _ LL _ _ _ E IO _ LL LI te ggg ll 97 Appendix 4 5 External input interruption assignment XCM external interruption definition XCM 32T E Poite Disable Input Falling interruption interruption interruption X2 10000 10001 M8050 10100 10101 M8051 XCM 32T E 3PLS Poite Disable Input Rising Falling interruption interruption interruption 10000 10001 M8050 10100 10101 M8051 10200 10201 M8052 XCM 60T E
39. ng of input ON OFF OFF ON in PLC the response time delays about 10ms There is built in digital filter for input terminals Input sensitivity XCM input current is 7mA in order to get reliable action the ON current is above 3 5mA the OFF current Is below 1 5mA 30 Power circuit specification input output specification external layout The input current of XCM is supplied by inside 24V power If use external power to drive sensor or optical electricity switch the voltage should be DC 24V 4V please use NPN open collector transistor for sensor output DC 247 Sensor provide Exterior power DC24V Sensor DIC24V Sensor provide power power mE ov s 2 E Dts l R5 Re R1 E ESA h LEDS L ur 3 Extend unit Senzor 31 Power circuit specification input output specification external layout 2 5 Transistor output circuit and specifications The output terminals of XCM are all transistor type which can be divided into high speed pulse output and normal transistor output Model XCM 32T E XCM 32T E 3PLS XCM 60T E High speed pulse output terminal Max output frequency of the pulse 200KHz Notes 1 For XCM 32T E 3PLS YO and X7 high speed counter input cannot use at the same time 2 Yl cannot work with expansion BD board at the same time load Induce load 1
40. o machine zero at the same time If need one return after another set ON sign bit of return to machine zero forbidden Please refer to chapter 3 5 and 3 7 for sign bits and parameters Return to the zero of axis X and then return to the zero of Y axis SET M8262 forbid the Y axis to return to zero DRVZ the X axis returns to machine zero RST M8262 permit the Y axis to return to zero SET M8261 forbid the X axis to return to zero DRVZ the Y axis returns to machine zero RST M8261 permit the X axis to return to zero 50 M8262 Y axis sign bit of return to zero forbidden return to the axis machine zero M8261 A axis Sign bit of return to zero forbidden return to the Taxis machine zero Notes If M8261 and M8262 are all ON DRVZ will not be executed DRV High Speed Positioning 16Bits Instruction 32 Bits Instruction Below XCM 32 Suitable Model MO ES x DRV k1000 k100 O X axis and Y axis high speed positioning with the maximum speed 81 X axis target position operands K TD CD D 52 Y axis target position operands K TD CD D FD The instruction specifies the travel to the target coordinates with independent settings for the X and Y axes This instruction doesn t realize interpolation function O Each axis maximum speed is specified by parameter register FD8908 acceleration deceleration speed is determined by acceleration
41. re M8211 1 15 stop output when alarm alarm pulse alarm frequency M8212 1 is alarm 0 is correct change suddenly PULSE 2 Whether to ignore M8213 1 15 stop output when alarm alarm pulse alarm frequency M8214 1 is alarm 0 is correct change suddenly PULSE 3 Whether to ignore M8215 1 15 stop output when alarm alarm pulse alarm frequency M8216 1 is alarm 0 is correct PULSE 4 change suddenly 69 Whether to ignore M8217 1 15 stop output when alarm alarm pulse alarm frequency M8750 1s alarm O 1s correct change suddenly PULSE 5 Whether to ignore i M8751 1 15 stop output when alarm alarm pulse alarm frequency M8752 1 is alarm 0 is correct change suddenly PULSE 6 Whether to ignore the M8753 1 is stop output when alarm alarm pulse alarm frequency M8754 1 is alarm 0 is correct change suddenly PULSE 7 Whether to ignore M8755 1 15 stop output when alarm alarm pulse alarm frequency M8756 1s alarm O 1s correct change suddenly PULSE 8 Whether to ignore the M8757 1 15 stop output when alarm alarm pulse alarm frequency M8758 1 is alarm 0 is correct change suddenly PULSE 9 Whether to ignore the i M8759 1 15 stop output when alarm alarm pulse alarm frequency M8760 1 is alarm 0 is correct change suddenly i PULSE 10 Whether to ignore the M8761 1 15 stop output when alarm alarm Words register High 16 bi
42. s vacant terminal please do not connect it or use it as relay terminal Please connect the terminals of basic unit and expansion unit Power circuit specification input output specification external layout 2 3 Input specification Input signal format Contactor input or NPN renner tr Input action display DC Power DC24V Sensor provide Input signal voltage Input ON current Input response time response time 1008 1011 Input signal s format Contactor input or NPN open collector transistor Circuit insulation Optical coupled insulation Input action display LED lights when input ON power DC24V Sensor provide 29 Power circuit specification input output specification external layout 2 4 DC Input Signal Operation AC Power DC 2 47 Sensor provide DO Fower EM Ov k KE ke LED bo i I Tm E 7 691 7 Senzoaor Input terminal When connect input terminal and terminal with no voltage contactor or NPN open collector transistor if input is ON LED lamp lights There are many terminals in the PLC Input circuit Use optical coupler to insulate the input primary circuit and secondary circuit There s a C R filter in the secondary circuit It is set to avoid wrong operation caused by vibration of input contactor or noise along with input signal As the preceding reason for the changi
43. sion 1 3 Terminal arrangement 1 4 The pin definition of communication port Power specification I O specification external layout 1 1 Internal specification Ambient 0 60 al COM 2 RS 232 RS 485 connect with network aptitude instrument inverters etc COM 3 BD board COM port RS 232C RS 485 Installation Can use M3 screw to fix or install directly on DIN46277 Wa EM Ground The third type of ground can t ground with strong power XCM performance amp specification table points Input 18 points Input 36 points ee Interior coil s points 8768 points Timer 100mS timer Set time 0 1 3276 7 seconds T Spec 10mS timer Set time 0 01 327 67 seconds ImS timer Set time 0 001 32 767 seconds Counter C 16 bits counter set value KO 32767 Spec 32 bits counter set value KO 2147483647 Power specification I O specification external layout 5024 words Data Register D FlashROM Register FD 524 words Note the user program capacity 128KB should choose password download mode Power specification I O specification external layout 1 2 Appearance amp dimension Unit mm XCM series 32 point main units 131 17 16 20
44. t of current pulse quantity Low 16 bit of current pulse quantity PULSE 3 High 16 bit of current pulse quantity y Low 16 bit of current pulse quantity PULSE 4 T2 D8796 Rising time of absolute relative positioning instruction Y7 PULSE 8 D8797 Falling time of origin returning instruction 7 B D8798 Rising time of absolute relative positioning instruction Y 10 EE PULSE 9 D8799 Falling time of origin returning instruction Y 10 EN 08800 Rising time of absolute relative positioning instruction Y 11 PULSE 10 08801 Falling time of origin returning instruction Y 11 73 Motion control instruction parameter special register and auxiliary relay explanation 3 9 Application 1 Model system XCM controls the worktable position via controlling the servo motor Ball screw Worktable Electronic device CMX CDV Servo motor Locati 2 educer Servo amplifier M XCM gt 5mm Pf 8192 pls rev Encoder 2 Parameter settings 1 Servo driver parameter settings The rated speed of servo motor is 3000 r min the feedback pulse of encoder is 8192 pls rev As the characteristic of servo motor at certain rotation speed command pulse frequency fo is equal to the feedback pulse frequency Pg and then you will obtain the following equation fo Command pulse frequency Hz Output from the
45. t of expansions and their design patent Duty Declare We have checked the manual its content fits the hardware and software of the products As mistakes are unavoidable we couldn t promise all correct However we would check the data in the manual frequently and in the next edition we will correct the necessary information Your recommendation would be highly appreciated 20008 06 CATALOG 8 1 XCM MOTION CONTROLLER 0 nnnm nennen nnne nennen nnn 10 elo INTERNAL SPECIFICATION ZZ ahua Une du 21 Zo APPEARANCE OS DIMENSION dones 23 9 TERMINAL ARRA ANGEMEN EA A 24 COM DEFINITION acicate eben tene nis eben genis bie pa Eoo Dischi p En eb 25 2 POWER SPECIFICATION I O SPECIFICATION EXTERNAL LAYOUT 26 Zola POWER SPECIFICATION i EE as 27 guo I DG NPU ee ara 28 2 9 ANP UI SPEC UE UC ATION moeren aan 29 2 4 JOC INPUT SIGNAL OPERATION AC POWER ee de 30 2 5 TRANSISTOR OUTPUT CIRCUIT AND SPECIFICATIONS 32 3 MOTION CONTROL INSTRUCTION PARAMETER SPECIAL DATA REGISTER AND ELA der b mu NS 36 Sta ADORE LEME ND GIS is 38 3 2 MOTION CONTROL INSTRUCTION LIST SPECIAL FOR XCM SERIES
46. the current register value is 200 200 machine zero register value is 50 50 electric zero register value is 150 100 after implementation of the instruction SETP K100 K100 the reference frame has changed but the register value has not changed at last the position has changed 44 250 200 Current value 250 150 100 100 908 2AP Value dei cip 200 100 5 50 achine zero 150 50 i 150 4100 oe 100 Elec ric zero 0 0 X 50 100 150 200 250 59 50 Original coordinate system 0 0 so 100 150 200250 X Such as current value is 200 200 absolute coordinates after implementation of the instruction SETP K100 K100 the zero has changed as the following new zero 1100 x zero 200 ABS absolute address Suitable type s After executing ABS instruction coordinates X Y will be recognized as the absolute value of zero 0 0 45 The displacement value of arc center I J and radius r will be recognized as incremental value e Ifthe address isn t defined it will be recognized as absolute value Notes ABS is corresponding to INC once the ABS instruction is executed it will be effective until the INC instruction Is executed Y 300 250 100 250 200 150 LIN K200 KO 100 50 200 0
47. time parameter FD8910 and deceleration parameter FD8912 51 e Whether the position is incremental distance from the zero point or absolute distance from the zero point 1s specified by instruction ABS INC e When the target position operate speed are specified by indirect registers the system default them as double words INC 2500 2000 DRV K 1000 K 2000 1500 1000 1000 1000 E di gt E re 0 0 500 1000 1500 2000 2500 3000 X INC Incremental Drive Method DRV K1000 K2000 High speed positioning with the maximum speed the target address 1s 1000 2000 LIN Linear Interpolation Positioning Suitable Model 166165 instruction 32bits instruction Below XCM 32 GO G x LIN k1000 k100 1000 Function The first and second axes do linear interpolated positioning at appointed speed the plane will be defined by PLAN 81 First axis target position coordinates Operand K TD CD D FD 52 52 Second axis target position coordinates Operand TD CD D FD S3 Third axis target position coordinates Operand K TD CD D FD Notes three axes motion control is not open it is not useful to set the parameter here but these bits must be reserved 54 The speed of linear interpolated positioning Operand TD CD D FD The highest speeds can up to 80 kHz for LIN and CW CCW instructions
48. ty Y axis proximity Z axis proximity U axis proximity switch logic 0 switch logic 0 rising switch logic 0 rising switch logic 0 rising rising falling 1 falling 1 falling 1 falling PARA 27 Amplification factor When the system operates the data all the decimals will be ignored the data will be stored integer Before the system operation expand 2 n amplification factor times for the data which can improve the calculation precision After the calculation divide the data by 2 The bigger the amplification factor the higher the calculation precision However if the factor is too big the register will overflow Generally set the factor to 6 Notes normally don t set this parameter to avoid calculation error PARA 28 Feed forward compensation coefficient Range 0 100 0 means no feed forward compensation The following instruction outputs the pulse after receiving the pulse and internal processing so there will be delay effect Modify the delay effect by feed forward compensation to achieve the best synchronization 3 7 Special data register list Special data Default No Function Explanation register value 08482 Current position 1 0 axis current coordinates position D8483 0 axis 08484 Current position 2 l axis current coordinates position 08485 1 15 D8486 Current position 3 2 axis current coordinates position D8487 2 15 08488 Current position E
49. umber the machine will stop Setting range 0 to 2147483647 PARA 23 zero point Z phase pulse number of Y axis crawling speed which needs to be count The basic setting 1s the same as 22 PARA 24 PARA 25 invalid parameters PARA 26 returning to machine zero FD8938 0 3 bit the direction returning to the machine zero 4 7 bit Whether to use proximity switch If not use proximity switch then machine zero returning is the same as electrical zero returning direct decelerate and stop 8 11 bit Proximity switch state 0 normal open 1 normal closed 12 15 bit Proximity switch logic 0 rising edge is effective 1 falling edge is effective X axis machine zero Y axis machine zero Z axis machine zero U axis machine zero returning direction returning direction returning direction returning direction O positive O positive O positive O positive l negative I negative I negative I negative X axis whether to Y axis whether to Z axis whether to U axis whether to use proximity use proximity use proximity use proximity switch 0 not use 1 switch 0 not use 1 switch 0 not use 1 switch 0 not use 1 use use use use 65 X axis proximity Y axis proximity Z axis proximity U axis proximity switch state 0 switch state 0 switch state 0 switch state 0 normal open 1 normal open 1 normal open 1 normal open 1 normal close normal close normal close normal close X axis proximi
50. ution FD8894 Pulse number per 2 Pulse rate Y axis FD8895 revolution FD8896 Pulse number per 3 Pulse rate Z axis FD8897 revolution FD8898 Pulse number per Pulse rate U axis FD8899 revolution FD8900 Move distance per 5 Motor resolution X axis FD8901 revolution FD8902 Move distance per Motor resolution Y axis FD8903 revolution FD8904 Move distance per 7 Motor resolution Z axis FD8905 revolution FD8906 Move distance per Motor resolution U axis FD8907 revolution FD8908 The highest speed Unit Hz FD8909 FD8910 10 Accelerate time Unit ms FD8911 FD8912 11 Decelerate time Unit ms FD8913 FD8914 E 12 Electrical zero X axis FD8915 FD8916 13 Electrical zero Y axis FD8917 FD8918 14 Electrical zero Z axis FD8919 FD8920 15 Electrical zero U axis FD8921 FD8922 16 Machine zero X axis FD8923 FD8924 Machine zero Y axis FD8925 FD8926 Machine zero Z axis FD8927 FD8928 Machine zero U axis FD8929 FD8930 The speed of return to machine FD8931 Zero External input X2 X axis FD8932 Interruption trigger return to FD8933 machine zero at crawling speed External input X10 Y axis External input X11 Zero point Z phase pulse number FD8935 l of Y axis crawling speed which Y axis need to be count s C Jj FD8940 Magnification coefficient power series of 2 FD8950 Feed forward coefficient EN EN EN EN FD8934 D Z
51. y The input terminals of the switch setting Operation axis Close point switch setting input Z phase zero input Mode 1 there is no close point switch setting The machine decides the target position coordinates according to the parameter 16 to 19 when returning to the machine zero and decides the direction of return to machine zero according to bit 0 to 3 of parameter 26 return speed depends on parameter 20 Mode 2 there is close point switch setting During the machine is returning to the machine zero when the machine arrives the close point switch the speed will decrease from the value of parameter 20 setting speed to parameter 21 crawling speed The machine will stop according to the counting zero Z phase pulse signal of parameter 22 and 23 Please see the following 49 diagram return to machine close pomt DOG zero signal T returning speed parameterz crawling speed parameter machine zero stop parameter 23 24 25 X0 DRVZ Function the machine will return to machine zero at the highest speed will select which axis to return according to the current plane it will also decide whether to return to the machine zero according to the value of M8261 M8264 sign bit of return to machine zero forbidden M8265 M8268 returning to zero sign bit of axis X Z will be ON after returning to the Zero Two axes will return t
52. zero Suitable type x DRVR The machine will return to the electric zero at high speed and do servo end checking The acceleration time is up to FD8910 deceleration time is up to FD8912 operation speed is up to FD8908 In actual applications DRVR makes the coordinate system clear and simplifies the operation decreases the error 48 DRVZ return to machine zero Suitable type First we will introduce the machine zero 1 There are two modes and 2 Parameter 26 can set mode which 15 return to machine zero parameter The bit 4 to 7 defines whether to use close point switch Besides the bit 8 to 11 12 to 15 is also related to close point switch 2 The other parameters related to machine zero include the details please refer to the appendix Parameter 16 17 18 19 set the machine zero of axis X Y Z U Parameter 20 the speed frequency of return to machine zero Parameter 21 crawling speed of return to machine zero Parameter 22 23 corresponding to axis X Y zero phase Z pulse value whose crawling speed needs count About mode and 2 Model The bit 4 to 7 of parameter 26 is 0 means do not use close point switch Mode2 The bit 4 to 7 of parameter 26 is means use close point switch The bit 4 to 7 of parameter 26 15 corresponding to the close point switch of axis X Y Z and U The X axis and Y axis support mode and 2 The Z axis and U axis support model onl
53. zero end ON to OFF when machine reach the zero bit point this bit become ON Z axis return to When running DRVZ this bit will from M8267 machine zero end ON to OFF when machine reach the zero bit point this bit become ON U axis return to When running DRVZ this bit will from M8268 machine zero end ON to OFF when machine reach the zero bit point this bit become ON 67 Note 1 When scanning the ladder chart in PLC implement one after another But motion control 15 based on process control only when one instruction is completed the next one will be executed So uses a special M register M8260 to show the state of the last positioning instruction When running set ONM8260 when completed set it OFF The next instruction starts to run when receiving the M8260 falling edge signal When running set ON M8260 again when completed set it OFF Repeat as this way the program will run in order Note 2 When running DRVZ instruction M8265 turns from ON to OFF When machine reaches machine zero point M8265 turns to ON again ON pgyz PM OFF ON M8265 OFF 3 9 Pulse output sign bit Bit register Pulse Address Function Explanation number M170 Pulse output ON when pulse output 32 bit pulse output M8171 ON when overflow PULSE 1 overflow M8172 1 is positive direction related direction output ON M8173 Pulse output ON when pulse output 32 bit pulse output M81

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