LSIS XEC-DP64H User Manual

Chapter 5 Positioning Instructions
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(b) Used Devices
Device
Description
Data Size
Exemplary Setting
Reference
Decision
X-
axis reference return
instruction signal
BOOL -
Direct
Start
X-axis direct start-up
instruction signal
BOOL -
%KX6720
X-axis in-operation signal
BOOL
-
%KX6721
X-axis error state
BOOL
-
ADDR
Target position
DINT
100,000
SPEED
Target velocity
UDINT
30,000
DWELL
Dwell time
DINT
100
MCODE
M code No.
UINT
123
POS_SPD
Position/velocity control
selection
BOOL 0
ABS_INC
Absolute/Incremental
coordinates selection
BOOL 0
TIME_SEL
Acce/dec. time numbering
BOOL
0
(d) Program Operation
•APM_DST instruction is executed when the rising edge of the direct start-up used as the X-
axis direct start-up instruction signal is generated. However, if X-axis is in operation or
error state, the instruction is not executed.
•If reference has not been defined at the start of DST, error code 224 is outputted to STAT_1 and
the instruction is not executed.
In such case, turn on the ‘reference determination’ signal ON and perform reference return with
APM_ORG instruction before starting-up the APM_DST instruction.
1) When the direct start-up instruction (APM_DST instruction) is executed, positioning operation is
started as set up in the operand as shown below.
- Because the BASE, SLOT and AXIS are 0, the built-in positioning X-axis of the
base unit is started.
- The target position is the 100,000 pulse set up in ADDR as DINT.
- The target velocity is 30,000 pps set up in SPEED as UDINT.
- After the positioning, the dwell time is 100ms set up in the DWEELL, and as for M code, the
123 stored in the MCODE is stored in the %KW428.
- Because POS_SPD and ABS_INC are 0, positioning control operation is based on absolute
coordinates. Since TIME_SEL is 0, the acceleration/deceleration pattern follows 1 which is
the acceleration time in the basic parameters.
In particular, when the APM_DST instruction is started, positioning is controlled in absolute
coordinates, operated at 30,000 pps up to 100,000 pulse position and stopped, and
positioning is completed after 100ms of dwell time and the M code outputs 123.
2) When the position has been determined by direct start-up, the position determination completion
signal (X-axis: %KX6722) turns on for one scan.

LSIS XEC-DP64H Specifications

General

Brand	LSIS
Model	XEC-DP64H
Category	Controller
Language	English

Summary

XGB Built-in Positioning

Safety Instruction

Crucial safety guidelines to be followed before operating the product.

Chapter 1 General

Provides general information about the positioning function, including purpose and features.

Chapter 2 General Specification

Provides general specifications for the XGB series, including environmental and immunity details.

Chapter 3 Before Positioning

Explains various positioning functions, parameters, and operation data.

Chapter 4 Positioning Check

Outlines the procedure for testing XGB positioning operation before use.

Chapter 5 Positioning Instructions

Provides detailed explanations for various positioning instructions like Origin Return, Direct Start, etc.

Chapter 6 Positioning Monitoring Package

Introduces the XGB positioning monitoring package for status monitoring and test operation.

Chapter 7 Program Examples of Positioning

Provides practical program examples for various positioning functions.

Chapter 8 Troubleshooting Procedure

Outlines basic steps for troubleshooting errors in XGB PLC and positioning functions.

Appendix 1 List of Error Codes

Details specific error codes related to the XGB positioning function.

Appendix 2 Positioning Instruction and K area List

Provides a list of dedicated K areas for positioning parameters and instructions.

Appendix 3 Motor Wiring Example

Illustrates wiring examples for connecting XGB PLC to servo motors.

Appendix 4 Dimension

Provides dimensional drawings for standard XGB main units (XBM-DN/DR series).