Positioning system and program example

The procedure -- how to configure a positioning system using K120S built-in positioning function -- is as follows:

1) How to configure a system

e suggest you to refer to the following configuration procedure!

Basic unit

"hoose #$T type for positioning!

Motor/servo driver

"hoose the proper motor and dri%er!

System configuration and wiring

ire &'"( dri%er and motor!

I/O, internal device assignment

#etermine )*+ points and internal de%ice to use!

JOG test run/error c ec!

iring chec, by -+. operation /forward*re%erse)

Origin setting

0echanical origin setting by origin return operation

Operation pattern

+peration pattern setting!

Operation data

+peration data parameter setting!

System run

&rogramming and running

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2) System configuration
.eneral configuration for 2-a2is positioning system is as follows: Y-axis motor Screw

X-axis motor

Object

Positioning system panel K120S

Driver

" #ig $% Positioning system configuration &

1) "onnection between K120S and Stepping motor #ri%er /+pen collector type)
/1) )n case of using #" 34 power supply

$ax% 2m

D !"

D 2#" " #ig '($% Stepping motor driver connection )*+, &

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/2) )n case of using #" 34 power supply

&' 2m

2#" 2K(0%!)

2#"

" #ig '('% Stepping motor driver connection )'-+, & - The built-in position function of K120S supports the open collector type only /line dri%er type is not a%ailable in K120S)! The abo%e pictures show the connection between K120S and motor dri%er when you use stepping motor with 456T7 $K# series dri%er! - Timing output turns on per 8!29/rotation angle)( which ma,es :return to origin: function precisely! )n case of detecting the origin point mechanically( if an origin point sensing signal and timing output are connected in logical 7;#( more accurate origin detection is possible because it remo%es the %ariation of rotator in stop position in the mechanical origin detection range! - The input points for origin( appro2imate origin( high*low limit signals are fi2ed as are shown in the abo%e( and if they are not used in position function( you can use them as general input! - )n case of #"2<4( you are supposed to insert proper resistance serially to limit current /to ma,e rated current)! - The built-in position function of K120S is a pulse and direction output type( so you set the operation mode of motor dri%er to 1-phase pulse = direction as is shown below!

" #ig .% Operation mode setting for a stepping motor driver &

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<) "onnection between K120S and Ser%o motor #ri%er /+pen collector type)
The built-in position function enables you to control a ser%o motor /open collector type)! The following is an e2ample of connection between K120S and 0$--2-S( 0itsubishi 7" ser%o motor dri%er!
B5=<6 B)=66 ?CDECF mGHGD N6 4 3 2001)5 <5 7* 72 73 7** 72* 5892 : ; 5N* ) 5N2 9:; P7lse ommon Direction ommon =2#" > ? @A NO@A GC DE FBC DE FHBIJ ommon <0 <1 P#0 P#1 O$ O$ 0 P#. 1 P#2 O$ O$ 2 2 P P <(=>2?= ) 89* * @ 1 A ;9 ;9 @ 1 A 9 9<I K* K2 ?<

2J1:5

L MDNOC %&P

K4$-D*1xx8

2m

ON Z[\ O66 ]^Z[_ \` 5YHGaa

PP S+ ,P OP O$ OP 2+ SD

. 10 2 11 / 1# 1 Plate

P0# P03 P0! P04 P00 P02 P01 P0. >?KA O$0L > ?M :52J1

12 2 1 11 ! 1!

5N3 1xD *xD 2+ 2+ 2+ 2+

ON

*3 *3

! "#$ %& ' +,-. /*012 3 2m

5N*9 -$+ SO, *-S P 12 2SP 2S, S+ S+ "DD O$ ()* 52$ ()2 6SP ()3 12 P1!* 125 2+ SD

1! ! 1# 0 / 13 14 10 20 . 1. 10 1/ 3 11 12 1 Plate

*D SD +,D ;CDFGUNV +,D WGmXYHCD *S S D* -* QRS &T

# . 1# 1. Plate

+,D *S S D* -* 2m

*0O
)

*0m)

*0O

" #ig -% /onnection 0etween 1$'2S and Servo motor 3river & - )n case of a ser%o motor( please set the operation mode of motor dri%er to 1-phase pulse = direction!

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3) )*+ and internal de%ice assignment

7fter you complete the connection and wiring between K120S and a motor dri%er( you are supposed to do )*+ and internal de%ice assignment for position control! The following is an e2ample of how to design a 2-a2is positioning system />ig 1)! /1) )nput point design )tem 6-a2is &000 &001 &00< &003 &00B &00C &007 &00D @-a2is &002 &001 &00A &008 &00# &005 &00> &010

Signal 'ow limit High limit +rigin 7ppro2imate origin -+. operation -+. direction -+. speed &ositioning

?sage #etection for low limit switch #etection for high limit switch +rigin signal input 7ppro2imate origin input -+. operation start -+. direction -+. high*low speed operation setting direct &ositioning direct start operation

$emar,

>i2ed

start operation &00" &011 +rigin operation $un Stop 5mergency stop 5mergency clear $eturn to origin operation start )ndirect operation start #eceleration and stop 5mergency stop 5mergency stop clear

&012 &011 &01< &013

- &0 E &8 are fi2ed for limit( origin and appro2imate origin! - @ou are able to assign other signals to the general bit address! /2) +utput point design )tem 6-a2is &0<0 &0<2 @-a2is &0<1 &0<1

Signal +utput pulse #irection output $obot chuc,

?sage &ulse string output /ma2! 100,pps) #irection pulse output "atch /on) and release /off) an obFect

$emar,

&0<<

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/1) )nternal de%ice design )tem 6-a2is #1300 #1302 #130< #130A #130B #1310 @-a2is #1320 #1322 #132< #132A #132B #1310 SiGe /word) 1 2 2 2 2 2 4ariable name 7cc!*dec! time -+. high speed -+. low speed +rigin return +rigin return Transferring amount in direct operation #1312 #1312 2 Speed in direct operation - )nternal de%ice design for operation status monitoring or inching operation! e recommend you should set the internal de%ice to latch area! 1000 )nching operation )nitial %alue 300 3000 1000 3000 300 10 High speed 'ow speed )nching operation $emar,

A) -+. test run

7fter the )*+ assignment and internal de%ice design are o%er( please chec, if the wiring is right by -+. operation /forward*re%erse)! /1) -+. operation parameter setting X-axis accel%PQecel% time Y-axis accel%Qecel% time

X-axis RO+

Y-axis RO+

licS w<en limit signal is 7seQ

licS w<en limit signal is 7seQ

" #ig *% JOG operation parameter setting & - Set the acceleration*deceleration time( -+. high speed( -+. low speed parameters /set them as latch)! - "lic, H52ternal )nput 'imit 5nableI when a high*low limit switch is used! 1-A

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/2) -+. operation program

U setting

RO+ Qirection

RO+ speeQ

" #ig 4% JOG operation program & - The )*+ address of the abo%e program is in the following and each point is connected to an e2ternal switch or H0) de%ice!

-+. operation "h0 "h1 /1) -+. test run &000B &000#

-+. direction &000C &0005

-+. speed setting &0007 &000>

7fter completing the parameter setting and program( conduct a test run( using -+. operation direction( speed and switch( to chec, if it wor,s normally! hile you are at it( chec, if it wor,s well changing the internal de%ice %alue in the parameter! )f the pulse output is made through the output point and a motor doesn:t rotate( then chec, the wiring! )f there is an error code in >11 /error code de%ice)( then follow a proper measure! )f a motor rotates forward when you change a -+. direction( then chec, the operation mode of a dri%er!

= =

= =

X-axis TorwarQPreverse Y-axis TorwarQPreverse

" #ig 5% Operation c ec! using JOG test run &

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Vnitial val7e setting LX axisM

Vnitial val7e setting LY axisM

" #ig 6% Internal device monitoring &

8) +rigin-return test run

7fter confirming the wiring by -+. test run( determine the origin using origin-return test run! /1) +rigin return parameter setting

Origin ret7rn met<oQ

Origin ret7rn speeQ

" #ig 7% Origin return parameter setting & - "hoose the origin return method! )t is recommended that: in case of a ser%o motor( you should connect the origin signal to J-phase output of a ser%o motorK and in case of a stepping motor( you should clic, on :7ppro2imated "ontact: in +rigin $eturn 0ethod!

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/2) +rigin return program U setting

Origin ret7rn Qirection

Origin position val7e

" #ig $2% Origin return program & /1) +rigin-return test run

7fter parameter setting and programming( do the origin-return test run in se%eral position to chec, if it stops at the origin!

" #ig $$% Origin return operation c ec! &

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B) +peration pattern design

7fter the origin-return test run( determine an operation pattern! This e2ample is based on these patterns: it mo%es from a starting point to an obFect( lifts it( mo%es it to other point and returns to the starting point! /1) +peration procedure

8 axis down

8 axis up wit an o09ect

WXA

WXA

: axis left

8 axis down

release and 8 axis up

: axis rig t

@ a2is descends from the starting point to an obFect( pic,s it up and ascends to the starting point! 6 a2is mo%es to the left and @ a2is descends and releases it and mo%es upward! 6 a2is mo%es to the right and returns to the starting point! )t repeats those procedures hereafter!

= = =

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C) +peration-coordinate data setting

7fter the origin-return test run( you are supposed to find the actual position data for operation! )n the 2-a2is position control e2ample( you should set <-point position data you can get by inching operation as follows:

&oint 2

Starting pt

&oint 1

&oint 1

" #ig $'% Operation data setting point & /1) -+.( positioning direct start operation program for inching operation

" #ig $.% Inc ing operation program & Y 0a,ing a program for inching operation li,e >ig 11! including -+. high*low speed( positioning direct start operation! Z Set the origin point by the origin return operation! [ 0o%e to the e2act obFect position using -+. and positioning direct start operation! .et the operation-coordinate data: 1) using -+. in high speed if it is distant from an obFect positionK 2) using -+. in low speed or positioning direct start operation \ The following table shows the coordinate data for each obFect position acLuired by those procedures!

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&osition 6 a2is @ a2is

Starting point 0 0

&osition 1 0 21330

&osition 2 81A30 0

&osition 1 81A30 21330

" Operation(coordinate data for eac position &

10) &osition operation pattern setting

- +peration pattern setting in position parameter /data list) using coordinate data acLuired by inching operation - 7 test run is completed after setting the proper speed %alue acLuired by a test run using operation pattern setting! - How to set the position operation pattern and program is as follows: /1) +peration pattern parameter setting Y 6-a2is parameter

- +peration coordinates are set as absolute coordinates( and 0 and 1 steps repeat whene%er an operation condition occurs! Z @-a2is parameter

- +peration coordinates are set as absolute coordinates( and 0 and 1 steps repeat whene%er an operation condition occurs! /2) &ositioning indirect start operation program

- )f you set the second operand /operation step) as 0 in &+S)ST( it runs the step( which is automatically increased( whene%er an operation condition occurs!

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/1) +peration condition program Displays t<e stoppeQ axis in t<e previo7s operation

= =

)f 013 /operation condition) is on( 011 is set! 010 and 011 are to restart the a2is which was running pre%iously( if an operating command is made( when there was a deceleration stop during operation! )f there is a deceleration stop command for 6 a2is while it is in operation( when 010 is set and @ a2is in operation( the corresponding a2is is in operation because 011 is set! MN refer to /<) deceleration stop condition program!

/<) #eceleration stop condition program

Operating Tlag

)f a deceleration stop command is made( it stops a corresponding a2is and later if it

operates again( set 010 or 011 to display an operating a2is to rerun from the decelerate-stop step!

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/3) 5mergency stop( error reset condition program

0a,e a program to e2ecute H5mergency StopI and H5rror $esetI when there is a corresponding operating condition is made!

/A) +peration program per each section @ a2is down &ic,ing it up and @ a2is up pic, 6 a2is left @ a2is down $elease it and @ a2is up X axis rig<t

5nd of positioning /current step completion) 0a,e a program considering operation pattern!

11) &rogram when 0 "ode is used

= = The position function of K120S supports the 0 "ode function! )f you want to use 0 code function( you should enable the 0 code function to turn on 01C11 /6 a2is) and 01C11 /@ a2is)!

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= =

)f a step is completed( 01C12 /6 a2is) and 01C1< /@ a2is) becomes +;! )f you turn the 0 code off after completing other command( the ne2t step operates

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