Positioning start, Positioning stop | LG Electronics 120S specs

Chapter 7 Usage of Various Functions

5)Positioning start

(1)Direct start(POSDST)

•This is used to operate directly by setting the axis, goal position address, operation speed without parameter setting.

•Refer to the ‘7.3.4 Instruction’ for details.

(2)Indirect start(POSIST)

•This is used to operate by setting the operation step no. by parameter.

•Refer to the ‘7.3.4 Instruction’ for details.

(3)Speed control start(POSVEL)

•This is used to operate directly by setting the axis, direction, operation speed without parameter setting.

•The speed can be changed by the speed override instruction(POSSOR)

•Refer to the ‘7.3.4 Instruction’ for details.

6)Positioning stop

(1)Deceleration stop(POSCTR)

•If encounters deceleration stop command during operation, it stop operation after deceleration.

•In case of deceleration stop by deceleration stop command in acceleration or constant speed section, starts to operate current operation step again by Start command and operation step

•In case of deceleration stop by deceleration stop command in deceleration speed section, starts to operate ‘current operation step+1’ again by Start command and operation step

•Refer to the ‘7.3.4 Instruction’ for details.

(2)Emergency stop(POSCTR)

•If encounters emergency stop command during operation, it stops operation without deceleration.

•When emergency stop has occurs, emergency stop error and output disable flag are set.

•Error and output disable flag should be reset by error reset command of POSCTR for re-start operation

•Refer to the ‘7.3.4 Instruction’ for details.

7-79

Image 163

LG Electronics 120S user manual Positioning start, Positioning stop

Contents

MASTER-K 120S series Safety Instructions Design Precautions Poor connection could cause an input or output failure Not doing so could cause a malfunction, failure or drop Such debris could cause fire, damage, or erroneous operation Not doing so could result in erroneous operation Not doing so can cause a malfunction Doing so could cause electric shock or erroneous operationNot doing so could cause poisonous pollution or explosion Revision History Contents Communication I/F Module ················· 4 Power Supply / CPU 104 Input and Output ModulesUsage of Various Functions 100 Communication Function Installation and Wiring Troubleshooting Maintenance Guide to Use This Manual General Features RTC TerminologyKglwin FAM Output Contact G7L-CUEB, G7L-CUEC Overall ConfigurationBasic system Expansion MASTER-K120SMASTER-K120S System Configuration Cnet I/F systemCommunications system MASTER-K120S G7L-CUEC 1n Communications systemMASTER-K120S G7L-CUEB RS-232C ⇔ RS-422 Converter CPU Product Functional ModelProduct Functional Block Main Unit Main Unit Economic type Main Unit Standard type Expansion Modules General Specifications General Specifications LED Main UnitPWR LED RUN LED Name Description 1 60-points main unit Standard 2 40-points main unit Standard 3 30-points main unit Standard 4 20-points main unit Standard 5 30-points main unit Economic 7 14-points main unit Economic Names of Parts 6 20-points main unit Economic8 10-points main unit Economic 1 20points I/O Module Expansion I/O Module2 10points I/O Module Names of Parts 3 8points I/O Module 1 A/D·D/A Combination Module Special Module G7F-DA2I Names of Parts 2 D/A Conversion Module RTD Input Module Names of Parts Analog timer Module Cnet I/F Module Communication I/F ModuleFnet I/F Module Names of Parts Pnet I/F Module Option ModuleDeviceNet I/F Module DR/DRT/DT60U Power Supply SpecificationsStandard Type Economic Type RUN, STOP, PAUSE, Debug CPU SpecificationsItems Specifications Remarks D0000 ~ D4999 Data register Operation modes JOG Items Specifications K7M-DR10UE K7M-DR14UE K7M-DR20UE K7M-DR30UE Power Supply / CPU Economic TypeRUN, STOP, Pause Modbus protocol support RS-232C 1port Cnet I/F Function Remarks Dedicated protocol supportUser defined protocol support RS-485 1 port Operation Processing Method Operation ProcessingCyclic operation Interrupt operation method Operation Processing at Momentary Power Failure OccurrenceMomentary power failure within 10 ms Momentary power failure exceeding 10 ms Expression for scan time Power Supply / CPU Scan TimeScan Watchdog Timer Setting range of watchdog 10 ~ 6,000msunit 10ms On delay timer Power Supply / CPU Timer ProcessingOff delay timer Monostable timer Integral timer Retriggerable timer Up-down counter Power Supply / CPU Counter ProcessingUp counter CTU Down counter CTD T1 + T2 Ring counterMaximum counting speed OFF Program Program Execution ProcedureClassifications of Program Usage of interrupt program Interrupt ProgramsScan program Interrupt program Process driven interrupt Parameter setting Time driven interruptHSC driven interrupt Error Classification Error HandlingOperation mode at error occurrence Power Supply / CPU Operation Modes RUN ModeProcessing when the operation mode is changed Operation processing contents Debug modeStandard type only Power Supply / CPU Stop modePause mode Processing when the operation mode changes Operation method Operation Mode ChangeOperation mode change methods Debug operation conditions Mode change Remote operation Self-diagnosis Functions Forced I/O setting method Power Supply / CPU 2 I/O Force On/Off function Power Supply / CPU Force on/ off Processing timing and method Special data register for forced I/O Clear error data Power Supply / CPU Direct I/O Operation functionSystem error history Special data register for error history Memory Configuration O No. allocation method I/O Address Allocation Usage Built-in Cnet Selection SwitchROM Mode Structure Power Supply / CPU External Memory Module Installation connectorSaving the user’s program on the external memory module Run the PLC with a program of external memory module Following message box will be displayed RTC ModuleRead RTC data Read RTC data from Kglwin Saturday Write RTC dataDate expression Number Date Sunday Monday Tuesday Wednesday Thursday Input and Output Specification Input / Output SpecificationsOpening/shutting of electric current Main unit Digital Input SpecificationSpecification Circuit diagram DC24VDC24V Input wiring Voltage Example of external devicesCurrent PNP It’s the same with the one for the main unit Input and Output Specification Expansion ModuleSpecifications Model Expansion Module Specification Main unit Relay Output Digital Output SpecificationK7M-DRT40U Circuit Economic type Model Main Unit SpecificationsInternal Circuit Relay DC24V DC24V Output wiringDC5V DC24V AC110/220V P42,P43 Internal Circuit 24V Model Main Unit SpecificationsK7M-DRT/DT20U K7M-DRT/DT30U K7M-DRT/DT40U K7M-DRT/DT60U P40,P41 24V Internal Circuit DC12V/24V … … It’s the same with the output circuit of the main unitAC110/220V DC5V/24V AC110/220V DC12/24V Model Expansion Module Specifications G7E-TR10ARefer to 7.2 ‘Special Functions’ for the special modules High-speed counter function Performance SpecificationsInput specification Built-in Functions Input Common Input common terminal Names of wiring terminalsInput pulse Preset input COM0 External interface circuit Wiring instructions Open collector output pulse generator Wiring examplePulse Generator Voltage output pulse generator Flag Instruction InstructionHSCSTHscast High speed counter Available device Parameter Setting Usage of Various Functions Usage of Various Functions Usage of Various Functions Usage of Various Functions Usage of Various Functions Programming example Remark Minimum input pulse width Using methodUsage of Various Functions Pulse Catch Function Usage Remark Usage of Various Functions Input Filter Function Function External input signal Scan programUsage of Various Functions External Interrupt Function Minimum processing time For the details , refer to Kglwin manual Manipulation Value Introduction Kp is too large MV = KpTi Edt System response when a long integration time given MV = Kp ⋅ Td dEdt Example of integral windup Perform the PID operation Perform the auto tuning operationWhere, h sampling period PID8 Usage of Various Functions ENP ENI END Usage of Various Functions DigitalOutput = Temp.⋅10 + Tse +1 Flag InstructionPID8 PID Control Instruction Available device PID8AT PID Auto Tuning Available device KGL-WIN Program ExampleTPR Usage of Various Functions Usage of Various Functions Usage of Various Functions Usage of Various Functions Error code list D4980 Voltage DC 0 ∼10V Performance specificationUsage of Various Functions 1 A/D·D/A Combination module G7F-ADHA G7F-ADHB Voltage Input Current Input Names of parts and functionsExplain about names of parts and functions G7F-ADHA ① RUN LED Analog output terminal Voltage output Current output G7F-ADHBRight current input Left voltage input 4000 Wiring Analog input characteristics Voltage input O converstion characteristics Analog output characteristics Voltage output Program example Usage of Various Functions Remark Usage of Various Functions 2 A/D Conversion module ① RUN LED Be sure to use two-core twisted shield wire Analog/Digital conversion characteristics Program example Program G7F-DA2I G7F-DA2V Usage of Various Functions 3 D/A Conversion module ③ ① Parameter setting Scaling function G7F-DA2I ~20mA output Digital/Analog conversion characteristics Program example On normal operating Usage of Various Functions Analog timerName Contents Indicate the operating status the G7F-AT2A Off DC 5V power off or the G7F-AT2A module fault Usage of Various Functions Explain about names of parts and functions Name Contents CH1 CH0 Parameter setting Digital conversion value registerError code D4880 ∼D4885 BD bC bB BA b9 b8 b7 b6 B5 b4 b3 b2 B1 b0 D4880 6000 Temperature conversion characteristicsDigital conversion value 4000 2000 No wiring Shield wire Type WireBurn-out detection function Wire resistance ≤10 Ω Main unit input contact P000 ~ P023 RTD input moduleP0000 P0040 ~ P004F Items Specification SpecificationPositioning FunctionDRT/DT type only Names of wiring terminal Output SpecificationP40, P41 COM1 Internal circuit and wiring example Positioning function Parameter settingSetting Incremental End Single 000 100 Usage of Various Functions Positioning function Please refer to the ‘7.3.4 Instruction’ for details Speed Control Uniform Speed Operation Absolute End Single Operation patternOperation methods are as follows Remark Step No. can be assigned within 1 ~ Items of parameter Absolute End Single 10,000 50,000 20,000 30,000 40,000 Operation Mode End OperationStart command Posist Example End operation Speed Absolute Keep Single 10,000 50,000 20,000 End 30,000 40,000 Keep Operation Absolute Continuous Single 10,000 50,000 End 20,000 Continuous Operation Operation Method Repeat Operation Positioning stop Positioning start Return to OriginPOSORG Rising edge ↑ Origin Detection when Approximate origin turns offOrigin return method Origin Detection by approximate origin This is the method using the approximate origin signal only JOG Operation Posjog Level input Speed Override CommandPOSSOR Rising edge ↑ Point External Input Stroke High/Low Limit Error and Output Prohibition Positioning parameter Bias Speed Backlash Compensation AmountSpeed Limit DOG Origin return parameter② Origin return-Low speed Dwell Time Positioning parameter Operation Mode is divided into following three kinds Usage of Various Functions Positioning Indirect Start Instruction Available device Usage of Various Functions InstructionsPositioning Indirect startPOSIST Posist Positioning Indirect Start Available device Instruction JOG OperationPOSJOG Posctr Positioning Control InstructionPOSCTRControl instruction designation Posprs Current position preset PosprsCurrent position preset Instruction Available device Preset value designation PWM PWM output PWMSV1 SV2 Posvel Speed control operation PosvelSpeed control operation Instruction Available device Ch. for speed override0~1 SV Speed 5 ~ 100,000pps Speed override PossorPossor Speed override instruction Instruction Available device Posdst Positioning direct startPOSDST Posorg Return to originPOSORGReturn to origin Instruction Available device Flag list Usage of Various Functions Flag list and Error codesDevice Function Description 101 Error Condition Error codeCorrective action Code H48 103 Wiring with stepping motor driver DC Wiring with stepping motor driverDC K7M-DRT**U Wiring with servo motor driverMR-J2/J2S-A SSR Wiring with Servo motor driverFDA-5000 AC Servo Driver Communication Functions Dedicated Protocol CommunicationIntroduction Connecting system configuration link between MASTER-K’s Communication Functions System configuration method PMU Pmulgis Pin assignment and direction Pin no Signal Base Format Communication Functions Frame Structure EOT BCC Sequence of command frameETX BCC Communication Functions List of commands PX000, %MX000, %LX000, %KX000, %CX000, %TX000, %FX000 Byte Communication Functions Data type Individual reading of deviceRrSS Communication Functions Execution of commands Response format ACK response Response format NAK response Continuous readingRrSB of device Wordw EOT Individual writing of deviceWwSS Blocksetting can be repeated up to max blocks Explanation NAK H00FF EOT BCC Continuous writing of deviceWwSB H10 Format name Header Station RSB Monitor registerX##RSS Blockmax blocks ② Continuous reading of device H06 H3130 H5878 H3039 H03 RSS Monitor executionY## Command Registration Error code Tail Reading PLC StatusRST Mode Bit Local Remote ConnectionPause Debug 3041 5272 5354 31313332 G7E-DR10A Parameter setting Cuec Communication Functions Flag related with operating status RUN Pause Debug Normal Example ④ Set parameters as the following table Communication Method Protocol Mode Communication Functions Communication Functions Error code Error type Error condition and causes Treatment Communication Functions Error code Setting Communications Parameter Parameter SettingUser Defined Protocol Communication VTH0B Setting frame Communication Functions FFH0C CRH0D SOH0E XOR SUMMUL Communication Functions Ascii Type Hex Type 05 31 32 33 34 04 36 Type settingKinds Value of sum check Last transmitting frame Ascii Type Hex Type 05 31 32 33 34 04 30 Communication Functions Sndcom Communication Functions InstructionUser defined communication instructionSNDCOM Example of program Example of Usage Communication Functions Communication Functions Communication Functions Setting and program of slave station Communication Functions Communication Functions Communication Functions Communication Functions Modbus Protocol Communication Basic SpecificationAscii mode RTU mode LRC Check/CRC Check area Address areaFunction code area Data area H5000 Area Areacurrent value area H6000 Size of using dataFunction code types and memory mapping Modbus addressing rules Map of wiring Parameters SettingSetting communication parameter PLC Modbus communication instructionMODCOM Communication Functions Instruction and exampleModcom Remark Coil Status Example program Input Communication Functions Sending Data No Protocol CommunicationReceiving Data Parameter setting Drcv Error flag turns on, when designating area is overCommunication Functions Instructions No protocol receiveDRCV Dsnd No protocol sendDSND Communication Functions Examples Program Communication Parameter Setting Remote connection Remote connection and communication I/F moduleRemote connection by built-in Cnet I/F Remote connection by modem Remote connection by Fnet I/F module OFF Must be off Master Slave Wiring Example RS-422 I/FUsage of G7L-CUEB Usage of G7L-CUEC Master Slave Wiring Example RS-485 I/FUsage of G7L-FUEA/RUEA RDB SDA SDB SG Usage of G7L-PBEA/DBEA Environment requirements InstallationInstallation Environment Precautions during installing Part Power consumption block diagram of PLC systemsPower consumption of each part Power Input Supply Main unit or Expansion Module handling instructions Handling Instructions COM OUT Mounting instructionsOUT Output part Heat generating device 100mm or more Installation and Wiring Connection of expansion module ※ T1,T2 constant voltage transformer WiringPower Supply Wiring Power Main circuit Device Input Input and Output Devices Wiring Cable Specifications for wiring Installation and Wiring Grounding Daily Inspection Maintenance and InspectionLED ERR LED 10-2 Periodic Inspection Troubleshooting Basic Procedures of Troubleshooting Yes Kglwin Contact the nearest service center Turn the power unit off and on Is RUN LED off?11-4 11-5 Measure the voltage of power supply in P40 11-6 11-7 Troubleshooting Questionnaire Input circuit troubles and corrective actions Troubleshooting Examples 11-10 Output circuit troubles and corrective actions Transistor 1/3 to 1/5 rated current flow Destroyed Surge current of 10 times or more when turned on11-11 11-12 Error code List 11-13 Error CPU state Message Cause Corrective Actions Code Option Appendix 1 System Definitions Editor option Appendix 1 System Definitions Basic Parameters Special relay F Appendix 2 Flag ListAlways Off Relay Function F0040 to F005F Operation error flagOperation error flag Latch Overflow error flag Internal relay M App2-4 Data relay D App2-5 App2-6 App2-7 App2-8 Clock data Relay Description Extension module Appendix 3 External DimensionsStandard type 95 105 App3-1 Appendix 3 External Dimensions