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LSIS XGT Series User Manual
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Chapter
8
Motion Control Function
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Table of Contents
Table of Contents
10
Chapter 1 Overview
22
Characteristics
22
Signal Flow of Motion Controller
24
Function Overview of Motion Controller
25
Positioning Control
26
Interpolation Control
26
Speed Control
30
Torque Control
31
Chapter 2 Specification
32
General Specification
32
Power Specification
33
Performance Specification
34
Function Specification
34
Communication Specification
37
Internal Input/Output Specification
38
Encoder Input Specification
40
The Name of each Part
41
Specification of Interface with External Device
42
Chapter 3 Operation Order and Installation
46
Operation Order
46
Installation
47
Safety Precautions
47
Installation Environment
49
Notice in Handling
49
Attachment/Detachment of Motion Controller
50
Notice in Wiring
55
Power Wiring
56
I/O Device Wiring
57
Ground(Lg) Wiring
58
Specifications of Wiring Cable
59
Connection Example of Servo Drive
60
Encoder Input (DC5V Voltage Output) Wiring Example
64
Encoder Input (DC 5V Line Driver Output) Wiring Example
65
External Input Signal Wiring Example
66
External Output Signal Wiring Example
66
Emc
67
EMC Standard
67
Fail Safe
71
Fail Safe Circuit
71
Maintenance
73
Maintenance and Inspection
73
Daily Inspection
73
Periodic Inspection
74
Troubleshooting
75
Basic Procedure of Troubleshooting
75
Troubleshooting Questionnaire
81
Troubleshooting Example
82
Chapter 4 Motion Control Operation
86
Structure of Motion Controller
86
Configuration of Motion Control
87
Motion Control Tasks
88
Types of Tasks
88
Task Operation
89
Execution of Motion Commands
92
Ethercat Communication
93
What Is Ethercat
93
Coe(Canopen over Ethercat)
93
Ethercat State Machine
94
Ethercat Process Data Objective(PDO)
95
Specification of Motion Controller Ethercat Communication
96
Motion Control Program
97
Program Execution
97
Operation Modes
97
Chapter 5 Memory and Parameter
99
Memory
99
Program and Data Memory
99
Device
100
Parameter
106
Chapter 6 Motion Function Block
140
Common Elements of Motion Function Blocks
140
The State of Axis
140
The State of Group
142
Basic I/O Variable
143
Buffermode Input
146
Changes in Parameters During Execution of Motion Function Block
146
Group Operation Route Change Settings
147
Motion Function Block Errors
149
Motion Function Block
150
Single-Axis Motion Function Blocks
153
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 Operation
171
(Mc_Movecontinuousabsolute)
171
Relative Position Operation Ending with Specified Velocity Operation
175
(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 Blocks
198
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 Blocks
220
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 Blocks
249
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 Block
291
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 System
299
(Ls_Movelineartimeabsolute)
299
Time-Linear Interpolation Operation for Relative Position of Coordinate System
301
(Ls_Movelineartimerelative)
301
Circular Interpolation Operation for Absolute Position of Coordinate System
303
(Mc_Movecircularabsolute2D)
303
Circular Interpolation Operation for Relative Position of Coordinate System
307
(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 Block
323
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 Program
347
Program Configuration
347
How to Set the Program
348
Run Time of the Program
350
Status Information Reading
352
Discrete Motion Program
353
Preparation for Operation
353
Homing Operation
354
Absolute Position/Relative Position Operation
356
Speed/Torque Control Operation
359
Axis Stop
362
Error Processing
364
Change in Operation
366
Parameter Write/Read
368
Multi-Axis Operation Program
374
Linear Interpolation Operation
374
Circular Interpolation Operation
376
Synchronous Operation
378
CAM Operation
381
Axis Group Processing
383
Operation Example of Axis Group
385
I/O Processing Program
391
Input Signal Processing
391
Output Signal Processing
391
Chapter 8 Motion Control Function
392
Origin Determination
392
Homing
393
Type of Control Operation
400
Single-Axis Position Control
400
Single-Axis Speed Control
405
Single-Axis Torque Control
407
Specified Velocity Operation after Position Operation
409
Switching Control
411
Axis Group Control
413
Linear Interpolation Control
415
Circular Interpolation Control
420
Axis Control Buffer Mode
428
Axis Group Control Buffer Mode and Transition Mode
431
Synchronous Control
433
Manual Control
444
Superimposed Operation
446
Phase Correction Control
448
Other Functions
450
Functions to Change Control
450
Auxiliary Function of Control
457
Data Management Function
462
Ethercat Communication Diagnosis Function
467
Cable Duplication Function
472
Replace Function During Connection
473
Summary of the Coordinate Systems Operation
474
Acs/Mcs/Pcs/Tcp
474
PCS Setting
475
Machine Information Setting
476
Work Space Setting
479
Time Linear Interpolation Operation for Absolute Position of Coordinate System
481
Circular Interpolation Operation for Coordinate System
484
Synchronized Operation for Conveyor Belt
492
Synchronized Operation for Rotary Table
495
Path-Operation Function for Coordinate System
498
Foe(File Access over Ethercat) Function
500
Overview of Foe Function
500
Foe Download
500
Chapter 9 NC Control Function
504
NC Command
504
Definition of the NC Command
504
Definition of the Command Character
504
Coordinate System
506
Configuration of the Program
508
NC Program
508
Configuration of the NC Program
508
Data
511
NC Command
513
Basic Format of the NC Position Command
513
List of the NC Commands
515
Description of the NC Command
517
NC Parameter
565
Chapter 10 CPU Function
576
Task Specification
577
Basic Operation of Task
577
Examples of Task Execution Sequence
579
Program Occupancy Rate Operation
581
Task Setting Items
584
Methods on How to Use Variables between Tasks
585
Task Flags
586
Task-Related Warning/Error
587
Parameter Setting
589
Basic Parameter Setting
589
I/O Parameter Setting
591
Self-Diagnosis Function
593
Main Task/Periodic Task Cycle Error
593
Error History Storage Function
594
Failure Management
595
Failure Diagnosis Function for the External Device
598
Instantaneous Power Failure Protection Function
599
RTC Function
600
How to Use the RTC
600
Remote Function
604
I/O Forced On/Off Functions
605
Forced I/O Setting Method
605
Time to Process the Forced I/O On/Off and Processing Method
606
Function Saving the Operation History
607
Error History
607
Mode Conversion History
607
Power down History
607
System History
607
Motion Error History
607
Program Modification During Operation(Modification During RUN)
608
Modification Procedures During RUN
608
Read I/O Information
611
Monitoring Functions
612
Function to Delete All of the Motion Controller
615
Built-In Input/Output Function
616
Input Filter Function
616
Emergency Output Function
618
Reading of Serial Number Information
619
Chapter 11 Datalog Function
621
Overview
621
Features
621
Part Names
622
Operation Sequence
623
Control Signal Flow
624
Performance Specifications
625
Specification Functions
626
Data Type and Device
626
Data Save Method
630
Data Sampling Condition
631
Save Folder Structure
642
CSV File Format
643
How to Save CSV
646
Buffer Memory
647
Data Omission
648
Files Backup Cycle
649
Regular Save
650
Save Method
650
Save at Designated Interval
653
Save at Designated Time
657
Trigger Save
660
Trigger Condition
661
Trigger Sample Block Calculation
669
Trigger Sample Calculation
670
Trigger Sample Save Cycle
670
Setting Method
671
Event Save
682
Event Condition
683
Setting Method
697
Additional Functions
708
File Save History Setting
708
Formatting Function
709
Diagnosis Function
712
CSV File Structure
713
File Save Format
713
File Name and Save Sequence
713
SD Memory Card
714
SD Memory Specifications
714
Caution
714
Micro SD Memory Usage Capacity
715
Flag List
716
Common Flag
716
Group Specific Flag
718
Error Code and Solution
719
Datalog Performance
720
Data Processing Time
720
Save Performance by Main Task Interval
720
Save Process Time Verification
722
Chapter 12 SD Addition Function
724
Overview
724
Characteristics
724
Export to the SD Card
725
Import from the SD Card
728
PLC Update Function
728
PLC Backup Function
730
Comparison with the PLC
731
PLC Boot Operation
733
Automatic Logging Function
735
Error Codes and Countermeasures
736
Chapter 13 Built-In Analog Function
737
Overview
737
Name of Analog Part and Functions
740
Characteristic of I/O Control
741
Input Characteristic
741
Accuracy
745
Input Accuracy
745
Output Accuracy
746
Built-In Analog Functions
747
Sampling Processing
747
Filter Processing
748
Average Processing
749
Detection Alarm (Input Disconnection)
751
Hold Last Value Function
753
Alarm Function
753
Setting Function of Channel Output Status
753
Interpolation Method Setting
754
Wiring
757
Example for Wiring Analog Input
757
Example for Wiring Analog Output
760
Operation Parameter Setting
761
Special Module Monitoring Functions
763
Automatic Register U Devices
768
Configuration and Function of Internal Memory
773
I/O Area of Built-In Analog Data
773
Example Program
784
Troubleshooting
786
LED Indication by Errors
786
Check the Built-In Analog Module
786
Troubleshooting
787
Chapter 14 Local Ethernet Function
789
Local Ethernet Function
789
Local Ethernet Parameter Settings
789
Local Ethernet Connection with XG5000
792
Local Ethernet Connection with XGT Server
793
Local Ethernet Connection with TCP/IP Server
793
Local Ethernet Diagnosis Information Function
795
FTP Server Functions
797
Outline
797
Support Functions
797
Setting FTP Server Parameters
798
How to Access to the FTP Server
800
Firewall Setting
809
Speed up of FTP
812
SNTP Client Functions
814
Outline of the Time Synchronization Protocol
814
SNTP Parameter Setting
814
How to Setup a Local NTP Server
816
4
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LSIS XGT Series Specifications
General
Brand
LSIS
Model
XGT Series
Category
Controller
Language
English
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