User Manual Position Table
Contents
1. Ezi SERVO Plus R Closed Loop Stepping System with Network Based Motion Controller Ezi SERVO Closed Loop Stepping System User Manual Position Table Rev 08 06 15 Table of Contents li BOTOlC GOLLIMO Star TOG pres da eta aa 3 2 Windows of Position Table escoria iS ds ds oes 3 2 LOadI ng Position Table Data nuria cor dados 3 2 2 Main Window of Position Table session 4 2 3 POSIL ON TADLOrEGITOF aitor iaa 5 Oe FOSTEION Tale MEM aa AS qa dis 0 1 EXplanation 01 POSIT Lion Table Item sesroriairt ci RAEE A cas i S22 TVPG OK COMMANA coved ara rara rra arado labia 10 4 JEXOCUL ION OV POSITION TaD IG sans osa a 11 A NOW TO Start POSITION Tales ob aa 11 dez EXIS TOL general Opel at lOll masia A 11 Aco Opera LION MONOS varas ad 12 AA FOINN FUNCION aer A E eh E EAA ENO 13 429 NDUT Condi iON JUM eee 15 AO EOOD CONAI TION JUMO cerros dai ES A 17 AA A erai 17 402 00D COUNTO Cleat src is 18 4 7 Start Pass End Signal Function A Say rreren rreren 19 A eSt End A TR ts TEN 19 A A aa regs a E a e a a A ns es aks ca S 20 AO PUSMMOCION FUNCTION eron sie tenre eee cag beca e a A 22 SS A II AN 22 4 8 2 Process of Push mode csi rd ida 22 1 Before Getting Started BB 1 Before Getting Started Presented Ezi SERVO Plus R User Manual Position Table explains position table functions of Ezi SERVO Plus R Here are User Manual_ Text User Manual_Communication Functio2. Next button and PT 1 will be executed www fastech co kr 4 Execution of Position Table 13 4 When pressing each Next button one PT command is executed 5 Click Stop to stop operation After operation is stopped the user can set new PT number and click Run button to start the program again 4 4 Teaching Function Teaching signal functionalizes that the position valuelpulse being working can be automatically inputted into a position value of a specific position table The following table shows type of commands and whether teaching function can be used or not neve in ass mt eran 6 wow UT 4 4 1 Teaching by user program When click Teaching button on Position Table screen the following dialog box is activated Teaching Dialog Ed 6 2 y ltemNo 6 sean 4 ene AY Move Position status D Cmd Pos FOO pulse Emd Pos 816 pulse Move speed 1000 pps Actual Pos 816 pulse Actual Vel O pps Abs M tabi Pos Error O pulse DEC Move INC Move 6 v ALARM ay SERVO OFF peace STOP ee 1 Select Position Table No the figure shows that no 6 of PT is selected among 256 Position Tables 2 Specify position of motor where to teach and move it 3 Turn ON or OFF of Servo during teaching 4 Displays current position information and the value dis played in Actual Pos ition is to be teaching value 6 When clicking this Teaching button
3. PPT Input JPT Input0 2 UPT Input2 x f more than 2 signals become ON of 3 Input Jump Position No0 Input Jump Position No2 the lower number JPTO gt JPT1 gt JPT2 has the high priority and will be executed www fastech co kr 4 Execution of Position Table 17 4 6 Loop Condition Jump 4 6 1 Specifying Loop If Loop Count and Loop Jump Table No are specified system repeats the action of position specified times Loop Count and then jumps to corresponding position to Loop Jump Table No regardless of specified Jump Position No iS ignored that is e J Jump Position No There are rules in specifying loop as following 1 If 0 is specified for Loop Count loop function is cancel led 2 If system needs to jump before repeating the specified times it jumps to JP Table No 3 If blank is specified for Loop Jump Table No system exits in execution 4 If Loop Jump Table No is specified in the form of 10XXX next action is executed by the external signal JPT Start Following Table is one of example for specifying loop Movement Scale Position L Counter Position Table No No of Loop Position Table No to jump e to jump after completing loop e JP Table No Loop Jump Table No nee PTAO NE PTAT DT Start y BL i i 1 i i i ae bs PT 2 Time x Refer to the sample file for testing P
4. PT set is 17 23 Trigger Pos For more details refer to 4 7 Start Pass End Signal Function Specifies pulse width where the PT OutputO PT Output1 PT Output2 signal is Trigger Time ON in case of PT set is 17 23 For more details refer to 4 7 Start Pass End Signal Function l Specifies motor torque ratio for push Push Ratio Motioning For more details refer to 4 8 Push Motion Function Push Speed Specifies mot ion speed of push motioning pps max 200 rpm Push Position Specifies absolute target position of push motioning Specifies the push mode Stop mode 0 Push Mode or Non stop mode 1 10 000 pulse 134 217 728 134 217 7 27 65535 nm se 100000 pulse 134 217 728 1984 217 727 10 000 Pulse Count For more details refer to 4 8 Push Motion Function O www fastech co kr 3 Position Table Item 10 lt 3 2 Type of Command Item Command specifies type of action pattern to be executed for each position and the followings in the table are list of commands Specified Command Name Remark Value Abs Move low speed The value in the item Position is value for absolute position Abs Move high speed 1 Teaching function can be used Continuous Action function can be used Abs Move high speed with deceleration The value in the item Position is value for relative position Teaching function is not suppor
5. 7 a E Pulse sales Input Pul Pulse scale 10ms or more NPT Inputo 2 Eg JPT Input Pulse scale 10ms or more Refer to the sample file for testing Position Table PTsamole Loop Motioning fpt www fastech co kr 4 Execution of Position Table 16 4 5 2 Jump by External Signal This is the method to specify next action pattern PT no by input condition However system does not jump to next PT no to be executed automatically according to procedure but executed by external signal JPT Start Difference from the function in section 4 5 1 executed by input signal JPT Input0 Input2 1 Jump Position No to jump need to have the format of 10XXX and 2 JPT Start needs to be ON in order to execute the next action If specified Wait Time of PT data is more than O then the next action is to be executed after the specified time from the external signal Data for PI no 14 Position Table No Inout Jump Inout Jump Inout Jump Wait Time o an oo to jump Position No O Position No 1 Position No 2 Wait Time JP Table No JPT 0 JPT 1 JPT 2 PT AQ of PTAQ aN q Pra LAA PLAZA PT Start PT Start JPT Start JPT Start JPT Input0 2 JPT Inputo 2 JPT Inputo 3 4 A A PT 14 PT 116 PT 14 PT 255 PTAD PTAO PTAJ FA PTA A PT Start PT Start JPT Start JPT Start JPT Input0 2
6. JPT 1 or JPT 2 JPT 1 accordingly regardless of specified Jump Table No JPT 2 For more details refer to 4 4 Input Condition Jump Corresponding Input Jump Position Input Jump Position No O Input Jump Position No 1 Input Jump Position No 2 If these item are specified system Loop Count Sigs repeats action of the position under specified times Loop Count and after then jumps to corresponding position to Loop Jump Table No regardless of specified Jump Table No Loop Jump Table No For more details refer to 4 5 1 Loop Setting www fastech co kr 3 Position Table Item 9 lt pe 00 Specifies output signals such as PT OutputO PT Output1 PT Output2 in order to confirm the start pass or end of motor operation for each position 0 8 16 Not use output signal 1 7 Specifies output function when starting operation PT set 9 15 Specifies output function when completing operation 17 23 Specifies output function when the position reach to Trigger Position For more details refer to 4 7 Start Pass End Signal Function If this tem is checked Loop Count of specified no of PI is to be cleared 200 Loop Counter Clear For more details refer to 4 5 1 Loop Setting If this item is checked stop condition Check npos is recognized as Inposition f inishes Specifies position where the PT OutputO PT Output1 PT Output2 signal is ON in case of
7. 4 5 Input Condition Jump Among the items to be specified JP Table No JPT 0 JPT 1 and JPT 2 are used to specify next PT no to be executed Specified next PI no to be executed there are two different methods depending on the control signal as followings 4 5 1 Automatic Jump This is the method to specify next action pattern PT no by input condition System jumps to next PT no to be executed automatically acc ording to procedure For example as shown in the following figure when PT no 14 is executing 1 if there is no input Signal next action pattern is to be executed by PT no 15 as shown in figure 1 However if any of input signal is ON such as JPT Ino utO JPT Input1 or JPT Input2 during the operation of PT no 14 then system jumps to JPT O JPT 1 or JPT2 accordingly and execute it that is specified in the Position Table data as shown in the figure 2 4 Data for PI no 14 Position Table No to Inout Jump Input Jump Input Jump jump Position No O Position No 1 Position No 2 JP Table No JPT 0 JPT 1 2 1 2 A A PT 14 PT 15 PT 14 PT 115 Y j LS A y TAG gt A PAD aay ar 3 APTA LA PT Start JP PT Start JPT Input0 2 IPT Input0 2 Overriden JPTInput0 2 y ee HIRES Pulse scale 22015 or more 3 4 PT 14 PT 116 PT 14 PT 225 PTAO A rar A PT Start PT Start A JPT InputO
8. current value displayed in Actual Pos will be saved www fastech co kr 4 Execution of Position Table 14 in the item Position of the current PT No 6 above case The values are to be saved on RAM and click Save to ROM button in order to save on ROM In order to move to the next position select PT no by using arrow keys 4 4 2 Teaching by Input signal You can save current position information to the Position Table data by Turning ON teaching control input signal Also when executes teaching position value no of pulse is specified as absolute position value Teaching is carried out by following orders 1 Select PT no to save data and specify items like Command etc except item Position only 2 Move motor to the position where you want to save data of it 3 Specify PT no s that teaching is carried out by PT AO PT A7 4 Turn ON teaching signal to save current position value into item Position of Position Table data 5 If you want to apply the saved value you need to Refresh PT data in order to verify the value on the User Program GUl screen 6 The values are to be saved on RAM and click Save to ROM button in order to save on ROM motion pattern OFF Teaching Signal PT No Position Value for each PT 12010 Position 4 15300 12800 Position 255 38520 www fastech co kr 4 Execution of Position Table 15 lt
9. than 200 rpm 4 Push motioning until the work detected with specified motor torque status push mode When Push mode is Stop After the work detected the motor will stop but the motor torque will be maintained and the inposition and other signal is effect ive The maintained motor torque will be return to normal Servo ON status by stop command status release push mode and return to position mode The next PT data is a sample for simple Stop mode push function Position Table Mode Normal Single Step Run E Position Table No CMD Position Low Spd High Spd Accel Decel Wait Time Con JP Table No I 10 20000 100000 100100 1000 I 2 3 i 100000 300 300 1000 I Mo J JI J L LPJ L C TT Push Ratio Push Speed Push Position Push Mode D 0 Ea 30 10000 80000 0 2 0 Gi u J When Push mode is Non stop After the work detected the motor will not stop and the motor torque will be maintained and the inposition and other signal is effective The Stop command must be executed before next motion command The next PT data is a sample for simple Non stop mode push function Position Table Mlode Normal Single Step Fun Position Table No CMB Position Low Spd High Spd Accel Decel Wait Time Con JP Table No g g I i 20000 200000 100 100 5000 0 UL 2 3 D 100000100 100 1000 D 10 No ILJI IILI LI
10. PIL CTT Push Ratio Push Speed Push Position Push Mode JA 10 0 0 0 30 15000 40000 11 U 0 12 0 O i 13 www fastech co kr 4 Execution of Position Table 24 1 PTno 10 push motioning during 5000 msec after work detect 2 PTno 11 Stop for next motion command 3 PTno 13 move to start position and repeat push motioning again Non stop mode must be execute the Stop command before next motion command in the work detect situation If there is shock in mechanism the time delay is needed after Stop operation To checking the current push motion status refer to User Manual Text 10 6 Push Motion www fastech co kr 4 Execution of Position Table 25 e Please note that the specifications are subject to change without notice due to product improvements Copyright 2008 FASTECH Co Ltd All Rights Reserved June 20 2013 Rrev 08 06 15 www fastech co kr
11. Tsample Loop Motioning txt 3 PTsample Loop counter clear txt 4 PTsample Clear Position txt 4 1 How to start Position Table Position Table operation is executed by input signal or communication command The followings are example of Position Table operation by input signal to be explained step by step In the case of Position Table operation by communication command the system is executed by sending the communication commands corresponding to the control input Signal 1 Specify Position Table No 0 255 operated by PT AO PT A7 2 f the motor is Servo OFF click Servo ON 3 Signal ON of PIStart input to start operation 4 2 Example for general operation Specify PT No through input data for PT AO PTA7 and then input PT Start signal to start speed control operation Specifying Position Table PTO Decel 2o00 es ia PT2 Accel 1500 A E cs Va aan PT3 Accel Decel End 1000 gt A ee E E me l 2 Waittime PTAO E PTA PT Start input Moving output Aco Dec output END output www fastech co kr 4 Execution of Position Table 12 x Refer to the sample file for testing Position Table PTsample General Motioning fpt 4 3 Operation Modes Position Table commands can be executed by two modes as follows 4 3 1 Normal Select Normal at the main window of position table and all commands will be execut
12. by signal input from outside drive 4 Teaching function 5 Functions to save Motion steps as file and to load them from file 6 View function of current Position Table order under execution status When electric power is supplied to drive the Position Table data saved in ROM area of drive is copied to RAM area and once click the Post Table button then the system loads the www fastech co kr 2 Windows of Position Table 4 lt o data saved in RAM area of drive 2 2 Main Window of Position Table The following window describes windows and buttons which execute the position table function Position Table 10000 O 10000 50000 SO000 100000 100000 100000 100000 100000 100000 100000 Teaching Retresh pave to ROMI Load trom ROMI save to File Load File Close S 8 Ooi o Y a a A O O O OT A A A We So 000 Be oe a II II IA IA Normal Single Step The user can select modes to execute the position table Normal All position commands are in order executed according to conditions saved in the position table Single Step Only single position command is executed Run Stop Next To run stop items at the defined position table Teaching Teaching is executed by either using external input signal or user program By clicking this button the user can easily use t eaching function at the user program window For more information refer to Teaching Function Refresh To d
13. ed in order by conditions already loaded in PT data Position Table Mode Slave f Normal Single Step Position Table JP Table No Continuous 1000 0 l 3 0 l 10000 100 100 1000 0 29 J OULU l BUI 100 100 1000 0 J gt J 0 l s0000 100 100 1000 0 4 J SUL l 100000 100 100 100 0 Son J 5000 l 100000 100 100 100 0 E J 500 l 100000 100 100 100 0 i 29 J 10000 l 100000 100 100 100 0 o 1 While Normal mode is selected the user sets PT number to 0 and click Run and then PT O is executed 2 PT 1 is executed by PT data jump conditions 3 PT 2 is executed by PT data jump conditions 4 As mentioned above next PT number is automatically executed by position data jump conditions 5 Click Stop to stop operating 4 3 2 Single Step Select Single Step at the main window of position table and only corresponding PT command will be executed and next PI commands wil be on stand by This mode can be easily used when the user executes test ing for each position command And it is available for User Program GUI only Mode O Normal SingleSteg Pun slave eH 10000 100 100 1000 10000 t00 100 1000 I cou B0000 t00 100 1000 l s0000 t00 100 1000 1 While Single Step Mode is selected the user sets PT number to 0 and click Run and then PT O is executed 2 After execution is stopped Run icon is changed into Next and next command is on stand by 3 Click
14. em You can edit data on the following dialog box shown as below 2 Clear Item All the items of selected PT are cleared After executing this function all the items are shown as blank 3 Clear All Items While above function Clear Item clears data for one selected order this function clears data for all the orders of 256 Position Table 4 Reload tem from ROM The data shown on the screen are values saved in the RAM This function is used for reload data saved in ROM area 5 Cut Item Used to cut selected item data of PT in order to paste on other position 6 Copy Item Used to copy selected item data of PT in order to paste on other position 7 Paste Item Paste the copied data to clipboard by Cut or Copy to other selected www fastech co kr 2 Windows of Position Table 6 lt position 8 Run Selected Item Execute motion order from the selected No of Position Table Double click on selected line of Position Table Position Table Item Editor data or click the Edit Item from popup menu tem No 0001 Command ABS Normal Motion y button shown above figure then the dialog box Motion Jump shown right is activated Position 50000 JP Table No Ti Low Speed 1 Y JPT O High Speed 680000 JPT Once complete editing of each item and then you Accel Time BE f JPT2 Decel Time 200 move and select other items to edit by using M Counting Loop VW Check Inpositi
15. isplay the position value measured by the teaching function For more information refer to Teaching Function Save to file To save current position table data to an external file It is saved to a folder defined by the user with a file name defined by the user The extension is txt www fastech co kr 2 Windows of Position Table 5 Load File To read position table data saved in external file z HARD EyPTSamples vel A E El PTsample Clear Position 00000 S F sample General Motioning IE PTsample Loop counter clear E PTsample Loop Motioning PTsample General Motioning All Filest ha x Up to 256 position table commands can be input and saved for Ezi SERVO PR x Up to 64 position table commands can be input and saved for Ezi SERVO PR MI x By using each position table command the user can edit the file such as edit copy paste and delete 2 3 Position Table Editor When click right mouse button on a selected Position Table data line then the following popup menu is activated Position Table Mo CMD Position Low Spd High Spd Accel J 5555 10000 100 1 3 0 10000 100 El J 5000 50000 100 3 3 0 50000 100 A 3 PAA de lA T E 7 Clear Item 100 5 2 Clear All ltems 100 0 a Reload Item from AOM a 11 4 i 100 10 Cut Item Ctrl 100 13 d Copy ltern Ctrl C 100 14 3 Paste lten Ctrl 100 15 J 100 16 gt Aun Selected tem 100 17 mn 1 Edit It
16. n in this manual Please utilize our product afterward understanding about proper usage method with reading these contents carefully The word as Position Table can be presented as PT Position Table from the following text In particular Please don t forget to memorize whole matters that requires attention about safety in User Manual_ Text and should try to understand proper ly Besides please be safe to do not use the products improperly in any case At worst serious damage can be occurred as like death We provide this instruction manual and other instruction manual as well PI ease keep these manuals in appropriate place whenever you need to find and read comfortably This manual is commonly used for next products 1 Ezi SERVO PR 2 Ezi SERVO PR M 2 Windows of Position Table 2 1 Loading Position Table Data When click the Pos Table button on main menu of User Program GUl then the system displays the following message box and loads data saved in RAM area of drive Loading Loading Position Table Data 30 Functions of Position Table allows to process motions in the orders that were predefined by user In the case of this Ezi SERVO Plus R drive up to 256 steps can be saved Major functions for saving items are shown as following 1 Editing function of Motion step Input Edit Delete Copy 2 Start and Stop function of Motion order at User Program GUI 3 Start and Stop Motion function
17. n if Wait Time is specified as Olms the system waits for the completion signal of position setting INP signal or motor stop signal before starting next Position Table www fastech co kr 3 Position Table Item 8 If this item is checked as check 1 the system continues action of current position and next position Continuous action Condition 1 For this function the Command item value must be 0 3 This function have to be used in sequencially increased goal position or sequencia Ily decreased goal position Condition 2 When this function is used for more than 2 PT steps every PT step have to be Cont inuous action mode Example When Position No 0 1 are specified as under that is position O is specified as Continuous Action Cont Act JPT No Position 0 1 tt Position 1 0 Position 0 Movement Time Position 1 Movement When this item specified the system jumos to JP Table No and execute it after completing action of current position f 299 Position No is specified as 10X XX system jumps to Position No XXX as soon as JPT Start begins one of the input digital JP Table No Signal from controller to outside becomes ON 10 000 10 255 For program exit specify as blank For more details refer to 4 4 Input Condition Jump If any of these items is checked and JPT 0 there are corresponding input signals of JPT inoutO JPT inputi or JPT input2 system jumps to JPT O
18. on Loop Count r ght left arrow key a Enable Continuous Action BRD St JP Table No at the end of loop After complete editing of all data completely P APP 7 Cc click Save button to save data to RAM Waiting Time after command pa 1000 OUTPUT AA In order to save data to ROM area click Save to ROM button on main screen of 7 Clear Loop Count Position Table JP Table No svn 4 p em e m www fastech co kr 3 Position Table Item 7 lt o 3 Position Table Item 3 1 Explanation of Position Table Item Specifies type of motion For more details refer to Ee Command 10 Command Specifies position movement scale by Position number of pulse pulse 134 217 728 134 217 727 Specifies low speed by number of pulse in accordance with type of motion Low Speed pps 500 000 For more details refer to 3 2 Command Specifies high speed by number of pulse High Speed in accordance with type of motion i 2 500 000 TER For more details refer to 13 2 ji i Command Specified acceleration time by msec when ACC time l l ms 1 9 999 Starting motion Specified acceleration time by msec when DEC time l ms 1 stopping motion Specifies waiting time by msec for Starting motion of next PT when Wait time specifying PT No for jump skip If JP Table No is specified as blank or Continuous Action is specified this iS ignored Wait time Note Eve
19. osition Table PTsample Loop Motioning fot www fastech co kr 4 Execution of Position Table 18 4 6 2 Loop Counter Clear Loop Counter is internal counter in drive to compare no of repeat with the no specified in the tem Loop Count of PT data This function clears Loop Counter to0 zero of the specifiedPT data after completion of looping If Loop Count Clear is specified as blank this function is cancel led Following table shows an example of specifying Loop Counter Clear Position Table No to Loop Counter jumo after completing Clear loop Loop Counter Movement Position Table No of Loop Scale No to jump Loop Position JP Table No Loop Jump Table No 1 Specify Loop Counter Clear of PT No 2 as PT No T 2 Start operation from PT No O When starts operation system reset all Loop Count values as 0 zero 3 After repeats the loop block PT No O PT No 1 two times the Loop Counter becomes 2 two same as specified Loop Count so system completes looping and jumps to PT No 2 4 After executing PT No 2 system jumps to PT No O Before jumping to PT No 0 system clears Loop Counter the internal counter as O zero 5 Then paragraph 3 and 4 are repeated infinitely 6 If the Loop Counter Clear of PT No2was not specified Loop Counter increased continuously and so jumping to PT No 2 occurs only once at the first time and then
20. r than 100 ys The signal pulse width of PT Output is set by Trigger Time value www fastech co kr 4 Execution of Position Table 22 lt 4 8 Push Motion Function This function is used when the specified motor torque is needed during motioing and stoplonly in Stop mode status 4 8 1 Setting 1 Select the command type to Push ABS Motion tem Mo 0000 Command ABS Normal Motion mb ny Low speed Motion High Speed ABS High Speed and Decel ABS Normal Motion Position INC Hig Soi Snes INE Normal Motion High Speed Move Origin Accel Time 2 Specifies the normal position motion command settings Motion Position Low Speed High Speed ccel Time Decel Time 3 Specifies the Push motion command settings Push Motion Push Ratio 30 3 This is for Non stop mode and Push Speed 15000 pps set backward position value to Push Position 40000 pulse 200 pulse after stop procedure iW Non stop Mode Pulse Count el pulse 4 8 2 Process of Push mode High position motion speed ARE Push speed f o Work 12 4 5 Start position Position Push Position 1000 pulse 1200 pulse www fastech co kr 4 Execution of Position Table 23 Start Push Motion command Normal position motion command is executed status position mode Decelerate the speed from position motion to push motion push motion speed must be lower
21. repeats the loop block PT No 0 PT No 1 infinitely because the internal counter Loop Counter value will never meet the specified Loop Count value Speed A PTAO y PTA7 4 PT Start B i _ PT 0 PT 0 j PT 1 i PT 1 Vo no i Endless loop i I I 7 _f AS YE Y Y OP gt Time 2 x Refer to the sample file for testing Position Table PTsample Loop counter clear fpt www fastech co kr 4 Execution of Position Table 19 4 7 Start Pass End Signal Function By specifying the item Start Pass End Signal Function user can recognize the status of Position Table whether operation started is under pass operation or completed operation through control signal output If you do not want to use Start Pass End Signal Function specify this item as 0 8 or 16 If other value is specified the position performs following actions depending on specified value 4 7 1 Start End Signal iw PT Output Set C Pass Sign OUTPUT w PTO PTIT Pile E If the value between 1 to 7 Start Sign is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 at the time of starting operation If the value between 9 to 15 End Sign is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 after completion of operation Value Signal Signal Signal HEX Value Not use o
22. ted Continuous Action is not supported Execute the command to move to origin based on the specified current parameters specified Reset command position value and actual position value based on current position and clears the values as 0 Push Abs Move 10 Execute the command to push motion r to aha mode command The following table shows speed patterns for each action of command For more details refer to 4 8 Push Motion Specified Command Name Speed Pattern Function Abs Move low speed a BERE Cre vore hin oso mi erorri 8 a Abs Move with acceleration and deceleration Move to Origin Clear Position 11 Low speed Inc Move low speed Abs Move high speed High speed Inc Move high speed Abs Move high speed with deceleration High speed Low speed Inc Move high speed with deceleration Abs Move with acceleration and deceleration High speed Low speed Inc Move with acceleration and deceleration www fastech co kr 4 Execution of Position Table 11 o 4 Execution of Position Table When installing User Program GUI the following files are saved in the folder named as WHFASTECHWWEZ MOTION PlusR WWPT_SamplesWWEzi SERVO ST or Ezi SERVO MINI for version 6 WWFASTECHWWEZ MOTION PlusR V8WWPT_SamplesWWEzi SERVO ST or Ezi SERVO MINI for version 8 level as samole files to test Position Table 1 PTsample General Motioning txt 2 P
23. utput function PT Output 0 2 signals turn to ON at the time of starting operation of the corresponding PT Not use output function of PT Output 0 2 PT Output 0 2 signals turn to ON after end of DO operation of the GO corresponding PI On e o E www fastech co kr 4 Execution of Position Table 20 Motion pattern by PT PT Output 0 2 Output PT Output HEX Value Case PT Set 0 Case PTSet 3 Case PTSeti 12 Case PT Set 8 x PT Output signals are not working on next condition 1 PT Set value 9 15 2 at the same time using Jump function 3 at the same time set Wait time O msec 4 7 2 Pass Signal iw PT Output Set C Start Sign C End sign f Pass Sign OUTPUT Trigger Position 12000 Trigger Time 100 msec If the value between 17 to 23 Pass Sign is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 at the position of Trigger Position PT Output 1 PT Output O PT Output Function Signal Signal HEX Value Not use output function of PT Output 0 2 PT Output 0 2 signals turn to ON for the time of trigger condition of the corresponding PT www fastech co kr 4 Execution of Position Table 21 2 Motion speed Trigger Position Trigger Position Case 1 Absolute Motioning Trigger Time ms PT Out 0 2 gt t gt Delay time Lowe
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