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Chapter 6 Motion Function Blocks

6-167

(9) Example program

This example is to set the center point at (0, 75, -580) when the current command position is MCS (0,150,-580), and perform

circular interpolation to the target position MCS(0,0,-580) by moving in a clockwise direction.

(a) Function block setting

CenterPoint

EndPoint

(b) Timing diagram

%MX1

MC_MoveCircularAbsolute2D.Busy

MC_MoveCircularAbsolute2D.Done

MC_MoveCircularAbsolute2D.Active

Table of Contents10
Chapter 1 Overview22
Characteristics22
Signal Flow of Motion Controller24
Function Overview of Motion Controller25
Positioning Control26
Interpolation Control26
Speed Control30
Torque Control31
Chapter 2 Specification32
General Specification32
Power Specification33
Performance Specification34
Function Specification34
Communication Specification37
Internal Input/Output Specification38
Encoder Input Specification40
The Name of each Part41
Specification of Interface with External Device42
Chapter 3 Operation Order and Installation46
Operation Order46
Installation47
Safety Precautions47
Installation Environment49
Notice in Handling49
Attachment/Detachment of Motion Controller50
Notice in Wiring55
Power Wiring56
I/O Device Wiring57
Ground(Lg) Wiring58
Specifications of Wiring Cable59
Connection Example of Servo Drive60
Encoder Input (DC5V Voltage Output) Wiring Example64
Encoder Input (DC 5V Line Driver Output) Wiring Example65
External Input Signal Wiring Example66
External Output Signal Wiring Example66
Emc67
EMC Standard67
Fail Safe71
Fail Safe Circuit71
Maintenance73
Maintenance and Inspection73
Daily Inspection73
Periodic Inspection74
Troubleshooting75
Basic Procedure of Troubleshooting75
Troubleshooting Questionnaire81
Troubleshooting Example82
Chapter 4 Motion Control Operation86
Structure of Motion Controller86
Configuration of Motion Control87
Motion Control Tasks88
Types of Tasks88
Task Operation89
Execution of Motion Commands92
Ethercat Communication93
What Is Ethercat93
Coe(Canopen over Ethercat)93
Ethercat State Machine94
Ethercat Process Data Objective(PDO)95
Specification of Motion Controller Ethercat Communication96
Motion Control Program97
Program Execution97
Operation Modes97
Chapter 5 Memory and Parameter99
Memory99
Program and Data Memory99
Device100
Parameter106
Chapter 6 Motion Function Block140
Common Elements of Motion Function Blocks140
The State of Axis140
The State of Group142
Basic I/O Variable143
Buffermode Input146
Changes in Parameters During Execution of Motion Function Block146
Group Operation Route Change Settings147
Motion Function Block Errors149
Motion Function Block150
Single-Axis Motion Function Blocks153
Servo On/Off (Mc_Power)153
Perform the Search Home (Mc_Home)154
Stop Immediately (MC_STOP)156
Stop (Mc_Halt)157
Absolute Positioning Operation (Mc_Moveabsolute)158
Relative Positioning Operation (Mc_Moverelative)161
Additive Positioning Operation (Mc_Moveadditive)164
Specified Velocity Operation (Mc_Movevelocity)168
Absolute Position Operation Ending with Specified Velocity Operation171
(Mc_Movecontinuousabsolute)171
Relative Position Operation Ending with Specified Velocity Operation175
(Mc_Movecontinuousrelative)175
Torque Control (Mc_Torquecontrol)178
Setting the Current Position (Mc_Setposition)180
Velocity/Acceleration Override (Mc_Setoverride)182
Read Parameter (Mc_Readparameter)184
Write Parameter (Mc_Writeparameter)187
Reset Axis Error (Mc_Reset)190
Touch Probe (Mc_Touchprobe)191
Abort Trigger Events (Mc_Aborttrigger)195
Superimposed Operation (Mc_Movesuperimposed)196
Superimposed Operation Halt (Mc_Haltsuperimposed)197
Multi-Axis Motion Function Blocks198
Camming Run (Mc_Camin)198
Camming Stop (Mc_Camout)205
Electrical Gearing Run (Mc_Gearin)208
Electrical Gearing Disengage (Mc_Gearout)211
Electrical Gearing by Specifying the Position (Mc_Gearinpos)213
Phase Compensation (Mc_Phasing)218
Group Motion Function Blocks220
Adds One Axis to the Group (Mc_Addaxistogroup)220
Removes One Axis from the Group (Mc_Removeaxisfromgroup)221
Removes All Axes from the Group (Mc_Ungroupallaxes)222
Changes the State for Group from Groupdisable to Groupenable (Mc_Groupenable)223
Changes the State for Group from Groupenable to Groupdisable (Mc_Groupdisable)224
Performs the Search Home of All Axes in the Group (Mc_Grouphome)225
Sets the Position of All Axes in the Group Without Moving (Mc_Groupsetposition)226
Stop the Group Immediately (Mc_Groupstop)228
Stop the Group (Mc_Grouphalt)229
Reset the Group Error (Mc_Groupreset)230
Absolute Positioning Linear Interpolation Operation (Mc_Movelinearabsolute)231
Relative Positioning Linear Interpolation Operation (Mc_Movelinearrelative)235
Absolute Positioning Circular Interpolation Operation (Mc_Movecircularabsolute)239
Relative Positioning Circular Interpolation Operation (Mc_Movecircularrelative)244
Exclusive Function Blocks249
Connect Servo Drives (Ls_Connect)249
Disconnect Servo Drives (Ls_Disconnect)250
Read SDO (Ls_Readsdo)251
Write SDO (LS_SDO)252
Save SDO (Ls_Savesdo)253
Encoder Preset (Ls_Encoderpreset)254
JOG Operation (Ls_Jog)255
Read Cam Data (Ls_Readcamdata)257
Write Cam Data (Ls_Writecamdata)258
Read ESC (Ls_Readesc)260
Write ESC (Ls_Writeesc)262
Skip Cam (Ls_Camskip)264
Variable Cam Operation (Ls_Varcamin)265
Variable Gear Operation (Ls_Vargearin)267
Variable Positioning Gear Operation (Ls_Vargearinpos)269
Read the Slave Location of the CAM Table (Ls_Readcamtableslavepos)271
Write Inverter Speed (Ls_Inverterwritevel)272
Read Inverter Speed (Ls_Inverterreadvel)273
Write Inverter Control Word (Ls_Invertercontrol)274
Read Inverter Status 1 (Ls_Inverterstatus1)277
Read Inverter Status 2 (Ls_Inverterstatus2)278
Speed Control Operation (CSV Mode) (Ls_Syncmovevelocity)279
Read CAM Table Master Position (Ls_Readcamtablemasterpos)280
Onoff CAM Operation (Ls_Onoffcam)282
Rotaryknife Cam Profile Generation (Ls_Rotaryknifecamgen)285
Cross Sealer Cam Profile Generation (Ls_Crosssealcamgen)288
Coordinate System Operation Function Block291
Machine Information Setting(Mc_Setkintransform)291
PCS Setting (Mc_Setcartesiantransform)294
Work Space Setting (Ls_Setworkspacetransform)296
Time-Linear Interpolation Operation for Absolute Position of Coordinate System299
(Ls_Movelineartimeabsolute)299
Time-Linear Interpolation Operation for Relative Position of Coordinate System301
(Ls_Movelineartimerelative)301
Circular Interpolation Operation for Absolute Position of Coordinate System303
(Mc_Movecircularabsolute2D)303
Circular Interpolation Operation for Relative Position of Coordinate System307
(Mc_Movecircularrelative2D)307
Synchronization Setting of Conveyor Belt (Mc_Trackconveyorbelt)311
Synchronization Setting of the Rotary Table (Mc_Trackrotarytable)313
JOG Operation of the Coordinate System (Mc_Robotjog)314
Set Path Operation Data (Mc_Setmovepath)316
Delete Path Operation Data (Mc_Restmovepath)318
Read Path Operation Data (Mc_Getmovepath)319
Perform Path Operation (Mc_Runmovepath)321
NC Control Function Block323
Specify NC Program (Nc_Loadprogram)323
Specify Block Operation (Nc_Blockcontrol)324
Reset (Nc_Reset)325
Emergency Stop (Nc_Emergency)327
Start Automatic Operation (Nc_Cyclestart)328
Feed Hold (Nc_Feedhold)329
Homing (Nc_Home)330
Rapid Traverse Override (Nc_Rapidtraverseoverride)331
Cutting Feed Override (Nc_Cuttingfeedoverride)332
Spindle Override (Nc_Spindleoverride)333
M Code Operation Completed (Nc_Mcodecomplete)334
S Code Operation Completed (Nc_Scodecomplete)335
T Code Operation Completed (Nc_Tcodecomplete)336
Read NC Parameters (Nc_Readparameter)337
Write NC Parameters (Nc_Writeparameter)346
Chapter 7 Program347
Program Configuration347
How to Set the Program348
Run Time of the Program350
Status Information Reading352
Discrete Motion Program353
Preparation for Operation353
Homing Operation354
Absolute Position/Relative Position Operation356
Speed/Torque Control Operation359
Axis Stop362
Error Processing364
Change in Operation366
Parameter Write/Read368
Multi-Axis Operation Program374
Linear Interpolation Operation374
Circular Interpolation Operation376
Synchronous Operation378
CAM Operation381
Axis Group Processing383
Operation Example of Axis Group385
I/O Processing Program391
Input Signal Processing391
Output Signal Processing391
Chapter 8 Motion Control Function392
Origin Determination392
Homing393
Type of Control Operation400
Single-Axis Position Control400
Single-Axis Speed Control405
Single-Axis Torque Control407
Specified Velocity Operation after Position Operation409
Switching Control411
Axis Group Control413
Linear Interpolation Control415
Circular Interpolation Control420
Axis Control Buffer Mode428
Axis Group Control Buffer Mode and Transition Mode431
Synchronous Control433
Manual Control444
Superimposed Operation446
Phase Correction Control448
Other Functions450
Functions to Change Control450
Auxiliary Function of Control457
Data Management Function462
Ethercat Communication Diagnosis Function467
Cable Duplication Function472
Replace Function During Connection473
Summary of the Coordinate Systems Operation474
Acs/Mcs/Pcs/Tcp474
PCS Setting475
Machine Information Setting476
Work Space Setting479
Time Linear Interpolation Operation for Absolute Position of Coordinate System481
Circular Interpolation Operation for Coordinate System484
Synchronized Operation for Conveyor Belt492
Synchronized Operation for Rotary Table495
Path-Operation Function for Coordinate System498
Foe(File Access over Ethercat) Function500
Overview of Foe Function500
Foe Download500
Chapter 9 NC Control Function504
NC Command504
Definition of the NC Command504
Definition of the Command Character504
Coordinate System506
Configuration of the Program508
NC Program508
Configuration of the NC Program508
Data511
NC Command513
Basic Format of the NC Position Command513
List of the NC Commands515
Description of the NC Command517
NC Parameter565
Chapter 10 CPU Function576
Task Specification577
Basic Operation of Task577
Examples of Task Execution Sequence579
Program Occupancy Rate Operation581
Task Setting Items584
Methods on How to Use Variables between Tasks585
Task Flags586
Task-Related Warning/Error587
Parameter Setting589
Basic Parameter Setting589
I/O Parameter Setting591
Self-Diagnosis Function593
Main Task/Periodic Task Cycle Error593
Error History Storage Function594
Failure Management595
Failure Diagnosis Function for the External Device598
Instantaneous Power Failure Protection Function599
RTC Function600
How to Use the RTC600
Remote Function604
I/O Forced On/Off Functions605
Forced I/O Setting Method605
Time to Process the Forced I/O On/Off and Processing Method606
Function Saving the Operation History607
Error History607
Mode Conversion History607
Power down History607
System History607
Motion Error History607
Program Modification During Operation(Modification During RUN)608
Modification Procedures During RUN608
Read I/O Information611
Monitoring Functions612
Function to Delete All of the Motion Controller615
Built-In Input/Output Function616
Input Filter Function616
Emergency Output Function618
Reading of Serial Number Information619
Chapter 11 Datalog Function621
Overview621
Features621
Part Names622
Operation Sequence623
Control Signal Flow624
Performance Specifications625
Specification Functions626
Data Type and Device626
Data Save Method630
Data Sampling Condition631
Save Folder Structure642
CSV File Format643
How to Save CSV646
Buffer Memory647
Data Omission648
Files Backup Cycle649
Regular Save650
Save Method650
Save at Designated Interval653
Save at Designated Time657
Trigger Save660
Trigger Condition661
Trigger Sample Block Calculation669
Trigger Sample Calculation670
Trigger Sample Save Cycle670
Setting Method671
Event Save682
Event Condition683
Setting Method697
Additional Functions708
File Save History Setting708
Formatting Function709
Diagnosis Function712
CSV File Structure713
File Save Format713
File Name and Save Sequence713
SD Memory Card714
SD Memory Specifications714
Caution714
Micro SD Memory Usage Capacity715
Flag List716
Common Flag716
Group Specific Flag718
Error Code and Solution719
Datalog Performance720
Data Processing Time720
Save Performance by Main Task Interval720
Save Process Time Verification722
Chapter 12 SD Addition Function724
Overview724
Characteristics724
Export to the SD Card725
Import from the SD Card728
PLC Update Function728
PLC Backup Function730
Comparison with the PLC731
PLC Boot Operation733
Automatic Logging Function735
Error Codes and Countermeasures736
Chapter 13 Built-In Analog Function737
Overview737
Name of Analog Part and Functions740
Characteristic of I/O Control741
Input Characteristic741
Accuracy745
Input Accuracy745
Output Accuracy746
Built-In Analog Functions747
Sampling Processing747
Filter Processing748
Average Processing749
Detection Alarm (Input Disconnection)751
Hold Last Value Function753
Alarm Function753
Setting Function of Channel Output Status753
Interpolation Method Setting754
Wiring757
Example for Wiring Analog Input757
Example for Wiring Analog Output760
Operation Parameter Setting761
Special Module Monitoring Functions763
Automatic Register U Devices768
Configuration and Function of Internal Memory773
I/O Area of Built-In Analog Data773
Example Program784
Troubleshooting786
LED Indication by Errors786
Check the Built-In Analog Module786
Troubleshooting787
Chapter 14 Local Ethernet Function789
Local Ethernet Function789
Local Ethernet Parameter Settings789
Local Ethernet Connection with XG5000792
Local Ethernet Connection with XGT Server793
Local Ethernet Connection with TCP/IP Server793
Local Ethernet Diagnosis Information Function795
FTP Server Functions797
Outline797
Support Functions797
Setting FTP Server Parameters798
How to Access to the FTP Server800
Firewall Setting809
Speed up of FTP812
SNTP Client Functions814
Outline of the Time Synchronization Protocol814
SNTP Parameter Setting814
How to Setup a Local NTP Server816

Brand	LSIS
Model	XGT Series
Category	Controller
Language	English

LSIS XGT Series User Manual

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