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 systemWe suggest you to refer to the following configuration procedure.

Basic unit Choose DRT type for positioning.

Motor/servo driver Choose the proper motor and driver.

System configuration and wiring Wire PLC, driver and motor.

I/O, internal device assignment Determine I/O points and internaldevice to use.

JOG test run/error check Wiring check by JOG operation (forward/reverse)

Origin setting Mechanical origin setting by origin return operation

Operation pattern Operation pattern setting.

Operation data Operation data parameter setting.

System run Programming and running

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2) System configuration

General configuration for 2-axis positioning system is as follows:

< Fig 1. Positioning system configuration >

3) Connection between K120S and Stepping motor Driver (Open collector type)

(1) In case of using DC 5V power supply

< Fig 2-1. Stepping motor driver connection (5V) >

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Y-axis motor

X-axis motor

Positioningsystem panel

Screw

Object

K120SDriver

DC5V

DC24V

Max. 2m

(2) In case of using DC 5V power supply

< Fig 2-2. Stepping motor driver connection (24V) >

- The built-in position function of K120S supports the open collector type only (line driver type is not available in K120S). The above pictures show the connection between K120S and motor driver when you use stepping motor with VEXTA RKD series driver.

- Timing output turns on per 7.2°(rotation angle), which makes 'return to origin' function precisely. In case of detecting the origin point mechanically, if an origin point sensing signal and timing output are connected in logical AND, more accurate origin detection is possible because it removes the variation of rotator in stop position in the mechanical origin detection range.

- The input points for origin, approximate origin, high/low limit signals are fixed as are shown in the above, and if they are not used in position function, you can use them as general input.

- In case of DC24V, you are supposed to insert proper resistance serially to limit current (to make rated current).

- The built-in position function of K120S is a pulse and direction output type, so you set the operation mode of motor driver to 1-phase pulse + direction as is shown below.

< Fig 3. Operation mode setting for a stepping motor driver >

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DC 24V

DC 24V

최대 2m

2K,0.5W

4) Connection between K120S and Servo motor Driver (Open collector type)

The built-in position function enables you to control a servo motor (open collector type). The following is an example of connection between K120S and MR-J2-S, Mitsubishi AC servo motor driver.

< Fig 4. Connection between K120S and Servo motor Driver >

- In case of a servo motor, please set the operation mode of motor driver to 1-phase pulse + direction.

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최대 2m 이내

외부 비상정지서보 ON리셋비례제어토크 리미트

정운전 리미트역운전 리미트

*3*3

고장영속도 검출

토크 리미트중

RA1RA2RA3

아날로그 토크 리미트+10V/ 최대전류

전원3 상 200VAC

NF

RD SD

GND GND RS

CS DR ER

L1L2L3L11L21CTE2DP

CN1A

PP 3SG 10NP 2

OPC 11COM 9

EMG 15SON 5RES 14PC 8TL 9LSP 16LSN 17SG 10SG 20

VDD 3COM 13ALM 18ZSP 19TLC 6

P15R 11TLA 12LG 1SD Plate

CN1E

TE11

MR-J2S-AUVW

PEPE

HC-MF HA-FFSeries motor

UVWE

EMG

24VDC

CN2

B1

B2

SM

전자 brake

검출기

21

12 TxD RxDLG

115

15

LG LGLG

43

1413

Plate

GND RS

CS DR ER

CN3

A

A

모니터 출력

최대 10mA10k10k

Personalcomputer

2m 이내

2m 이내

MC

Pulse

DC24V

K7M-DRTxxU서보 ON 신호의 OFF

알람신호에 의해 Cutoff

P40 P41 신호명 Ch0 Ch1

Direction P42 P43 Common COM

0COM

1 Common COM

2COM

2 +24V입력

P P

원점 P04 P06P05 P07

상한 리미트 P01 P03 하한 리미트 P00 P02

비상정지 입력접점

Common COM0(입력 )

OP 14LG 1SD Plate

근사원점

5) I/O and internal device assignment

After you complete the connection and wiring between K120S and a motor driver, you are supposed to do I/O and internal device assignment for position control. The following is an example of how to design a 2-axis positioning system (Fig 1).

(1) Input point design

ItemSignal Usage Remark

X-axis Y-axis

P000 P002 Low limit Detection for low limit switch

FixedP001 P003 High limit Detection for high limit switch

P004 P006 Origin Origin signal input

P005 P007 Approximate origin Approximate origin input

P008 P00D JOG operation JOG operation start

P009 P00E JOG direction JOG direction

P00A P00F JOG speed JOG high/low speed operation setting

P00B P010 Positioning direct

start operation

Positioning direct start operation

P00C P011 Origin operation Return to origin operation start

P012 Run Indirect operation start

P013 Stop Deceleration and stop

P014 Emergency stop Emergency stop

P015 Emergency clear Emergency stop clear

- P0 ~ P7 are fixed for limit, origin and approximate origin.

- You are able to assign other signals to the general bit address.

(2) Output point design

ItemSignal Usage Remark

X-axis Y-axis

P040 P041 Output pulse Pulse string output (max. 100kpps)

P042 P043 Direction output Direction pulse output

P044 Robot chuck Catch (on) and release (off) an object

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(3) Internal device designItem

Size (word) Variable nameInitial

valueRemark

X-axis Y-axis

D3500 D3520 1 Acc./dec. time 500

D3502 D3522 2 JOG high speed 5000

D3504 D3524 2 JOG low speed 1000

D3506 D3526 2 Origin return 5000 High speed

D3508 D3528 2 Origin return 500 Low speed

D3510 D3530 2 Transferring amount

in direct operation

10 Inching operation

D3512 D3532 2 Speed in direct

operation

1000 Inching operation

- Internal device design for operation status monitoring or inching operation.

- We recommend you should set the internal device to latch area.

6) JOG test runAfter the I/O assignment and internal device design are over, please check if the wiring is right by JOG operation (forward/reverse).

(1) JOG operation parameter setting

< Fig 5. JOG operation parameter setting >

- Set the acceleration/deceleration time, JOG high speed, JOG low speed parameters (set them as latch).

- Click ‘External Input Limit Enable’ when a high/low limit switch is used.

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X-axis accel./decel.time

X-axis JOG

Click when limit signal is used

Y-axis accel.decel.time

Y-axis JOG

Click when limit signal is used

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(2) JOG operation program

< Fig 6. JOG operation program >

- The I/O address of the above program is in the following and each point is connected to an

external switch or HMI device.

JOG operation JOG direction JOG speed setting

Ch0 P0008 P0009 P000A

Ch1 P000D P000E P000F

(3) JOG test run

- After completing the parameter setting and program, conduct a test run, using JOG operation

direction, speed and switch, to check if it works normally.

- While you are at it, check if it works well changing the internal device value in the parameter.

- If the pulse output is made through the output point and a motor doesn't rotate, then check

the wiring.

- If there is an error code in F33 (error code device), then follow a proper measure.

- If a motor rotates forward when you change a JOG direction, then check the operation mode

of a driver.

< Fig 7. Operation check using JOG test run >

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X-axis forward/reverse Y-axis

forward/reverse

CH setting JOG direction JOG speed

< Fig 8. Internal device monitoring >

7) Origin-return test runAfter confirming the wiring by JOG test run, determine the origin using origin-return test run.

(1) Origin return parameter setting

< Fig 9. Origin return parameter setting >

- Choose the origin return method. It is recommended that: in case of a servo motor, you should

connect the origin signal to Z-phase output of a servo motor; and in case of a stepping motor,

you should click on 'Approximated Contact' in Origin Return Method.

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Initial value setting (Y axis)

Initial value setting (X axis)

Origin return method

Origin return speed

(2) Origin return program

< Fig 10. Origin return program >

(3) Origin-return test run

- After parameter setting and programming, do the origin-return test run in several position to

check if it stops at the origin.

< Fig 11. Origin return operation check >

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CH setting

Origin return direction Origin position value

8) Operation pattern design

After the origin-return test run, determine an operation pattern. This example is based on these patterns: it moves from a starting point to an object, lifts it, moves it to other point and returns to the starting point.

(1) Operation procedure

- Y axis descends from the starting point to an object, picks it up and ascends to the starting

point.

- X axis moves to the left and Y axis descends and releases it and moves upward.

- X axis moves to the right and returns to the starting point.

- It repeats those procedures hereafter.

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① Y axis down ② Y axis up with an object

시작점 시작점

③ X axis left ④ Y axis down

⑤ release and Y axis up ⑥ X axis right

9) Operation-coordinate data setting

After the origin-return test run, you are supposed to find the actual position data for operation. In the 2-axis position control example, you should set 4-point position data you can get by inching operation as follows:

< Fig 12. Operation data setting point >

(1) JOG, positioning direct start operation program for inching operation

< Fig 13. Inching operation program >

① Making a program for inching operation like Fig 13. including JOG high/low speed,

positioning direct start operation.

② Set the origin point by the origin return operation.

③ Move to the exact object position using JOG and positioning direct start operation. Get the

operation-coordinate data: 1) using JOG in high speed if it is distant from an object

position; 2) using JOG in low speed or positioning direct start operation

④ The following table shows the coordinate data for each object position acquired by those

procedures.

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Starting pt

Point 1

Point 2

Point 3

Position Starting point Position 1 Position 2 Position 3

X axis 0 0 73650 73650

Y axis 0 21550 0 21550

< Operation-coordinate data for each position >

10) Position operation pattern setting

- Operation pattern setting in position parameter (data list) using coordinate data acquired by

inching operation

- A test run is completed after setting the proper speed value acquired by a test run using operation

pattern setting.

- How to set the position operation pattern and program is as follows:

(1) Operation pattern parameter setting

① X-axis parameter

- Operation coordinates are set as absolute coordinates, and 0 and 1 steps repeat whenever an

operation condition occurs.

② Y-axis parameter

- Operation coordinates are set as absolute coordinates, and 0 and 1 steps repeat whenever an

operation condition occurs.

(2) Positioning indirect start operation program

- If you set the second operand (operation step) as 0 in POSIST, it runs the step, which is

automatically increased, whenever an operation condition occurs.

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(3) Operation condition program

- If M15 (operation condition) is on, M13 is set.

- M10 and M11 are to restart the axis which was running previously, if an operating command

is made, when there was a deceleration stop during operation. If there is a deceleration stop

command for X axis while it is in operation, when M10 is set and Y axis in operation, the

corresponding axis is in operation because M11 is set. => refer to (4) deceleration stop

condition program.

(4) Deceleration stop condition program

- If a deceleration stop command is made, it stops a corresponding axis and later if it

operates again, set M10 or M11 to display an operating axis to rerun from the decelerate-stop

step.

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Displays the stopped axis in the previous operation

Operating flag

(5) Emergency stop, error reset condition program

- Make a program to execute ‘Emergency Stop’ and ‘Error Reset’ when there is a

corresponding operating condition is made.

(6) Operation program per each section

- Make a program considering operation pattern.

11) Program when M Code is used

- The position function of K120S supports the M Code function.

- If you want to use M code function, you should enable the M code function to turn on M1911

(X axis) and M1913 (Y axis).

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End of positioning (current step completion)

Y axis down

Picking it up and Y axis up pick

X axis left

Y axis down

Release it and Y axis up

X axis right

- If a step is completed, M1912 (X axis) and M1914 (Y axis) becomes ON.

- If you turn the M code off after completing other command, the next step operates

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