Positioning Control InstructionPOSCTR, Posctr | LG Electronics 120S

Chapter 7 Usage of Various Functions

3) Positioning Control Instruction(POSCTR)

POSCTR

Positioning control instruction

Instruction					Available device
Instruction	M	P	K	L	F	T	C		S
	M	P	K	L	F	T	C		S

S

n1	○	○	○	○	○	○	○		○

			No. of		Flag
D	#D	integer	steps	Error	Zero	Carry
D	#D	integer	steps	(F110)	(F111)	(F112)

○

5○

○ ○ ○

Flag set

Error

Error flag turns on when designating area is over

(F110)

Designation

S	Channel designation(0~1)

	Control instruction designation
n1	0: Deceleration stop. 1:Emergency stop.
	2: Error reset

■ POSCTR S n1

(1)Functions

•Operates designated control operation at the rising edge of input condition.

-Deceleration stop : Stops positioning after deceleration

-Emergency stop : Stops positioning immediately without deceleration

-Error Reset : Resets occurred error and output prohibition signal.

(2)Example program

•When input condition M0000 turns on, Ch.1 stops positioning after deceleration.

7-93

Image 177

LG Electronics 120S user manual Positioning Control InstructionPOSCTR, Posctr, Control instruction designation

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 Doing so could cause electric shock or erroneous operation Not doing so can cause a malfunctionNot doing so could cause poisonous pollution or explosion Revision History Contents Communication I/F Module ················· 4 Power Supply / CPU Usage of Various Functions Input and Output Modules100 104 Communication Function Installation and Wiring Troubleshooting Maintenance Guide to Use This Manual General Features Kglwin TerminologyFAM RTC Output Contact Basic system Overall ConfigurationExpansion G7L-CUEB, G7L-CUEC Communications system System Configuration Cnet I/F systemMASTER-K120S MASTER-K120SMASTER-K120S MASTER-K120S G7L-CUEB 1n Communications systemRS-232C ⇔ RS-422 Converter G7L-CUEC Product Functional Block Product Functional ModelMain Unit CPU Main Unit Economic type Main Unit Standard type Expansion Modules General Specifications General Specifications PWR LED Main UnitRUN LED 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 Names of Parts 6 20-points main unit Economic 7 14-points main unit Economic8 10-points main unit Economic Expansion I/O Module 1 20points 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 Communication I/F Module Cnet I/F ModuleFnet I/F Module Option Module Names of Parts Pnet I/F ModuleDeviceNet I/F Module Standard Type Power Supply SpecificationsEconomic Type DR/DRT/DT60U Items Specifications Remarks CPU SpecificationsD0000 ~ D4999 Data register Operation modes RUN, STOP, PAUSE, Debug JOG Items Specifications Power Supply / CPU Economic Type K7M-DR10UE K7M-DR14UE K7M-DR20UE K7M-DR30UERUN, STOP, Pause Remarks Dedicated protocol support Modbus protocol support RS-232C 1port Cnet I/F FunctionUser defined protocol support RS-485 1 port Operation Processing Operation Processing MethodCyclic operation Momentary power failure within 10 ms Operation Processing at Momentary Power Failure OccurrenceMomentary power failure exceeding 10 ms Interrupt operation method Scan Watchdog Timer Power Supply / CPU Scan TimeSetting range of watchdog 10 ~ 6,000msunit 10ms Expression for scan time Power Supply / CPU Timer Processing On delay timerOff delay timer Monostable timer Integral timer Retriggerable timer Up counter CTU Power Supply / CPU Counter ProcessingDown counter CTD Up-down counter Maximum counting speed Ring counterOFF T1 + T2 Program Execution Procedure ProgramClassifications of Program Scan program Interrupt ProgramsInterrupt program Usage of interrupt program Parameter setting Time driven interrupt Process driven interruptHSC driven interrupt Error Handling Error ClassificationOperation mode at error occurrence Power Supply / CPU Processing when the operation mode is changed RUN ModeOperation processing contents Operation Modes Pause mode Power Supply / CPU Stop modeProcessing when the operation mode changes Debug modeStandard type only Operation mode change methods Operation Mode ChangeDebug operation conditions Operation method 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 System error history Power Supply / CPU Direct I/O Operation functionSpecial data register for error history Clear error data Memory Configuration O No. allocation method I/O Address Allocation ROM Mode Built-in Cnet Selection SwitchStructure Usage Power Supply / CPU Installation connector External Memory ModuleSaving the user’s program on the external memory module Run the PLC with a program of external memory module Read RTC data RTC ModuleRead RTC data from Kglwin Following message box will be displayed Date expression Write RTC dataNumber Date Sunday Monday Tuesday Wednesday Thursday Saturday Input / Output Specifications Input and Output SpecificationOpening/shutting of electric current Specification Digital Input SpecificationCircuit diagram Main unit DC24VDC24V Input wiring Current Example of external devicesPNP Voltage Specifications Input and Output Specification Expansion ModuleModel Expansion Module Specification It’s the same with the one for the main unit Digital Output Specification Main unit Relay OutputK7M-DRT40U Economic type Model Main Unit Specifications CircuitInternal Circuit Relay DC5V DC24V Output wiringAC110/220V DC24V DC24V K7M-DRT/DT20U K7M-DRT/DT30U K7M-DRT/DT40U K7M-DRT/DT60U Model Main Unit SpecificationsP40,P41 24V Internal Circuit P42,P43 Internal Circuit 24V DC12V/24V It’s the same with the output circuit of the main unit … …AC110/220V DC5V/24V AC110/220V Model Expansion Module Specifications G7E-TR10A DC12/24VRefer to 7.2 ‘Special Functions’ for the special modules Input specification Performance SpecificationsBuilt-in Functions High-speed counter function Input pulse Preset input Names of wiring terminalsCOM0 Input Common Input common terminal External interface circuit Wiring instructions Pulse Generator Wiring exampleVoltage output pulse generator Open collector output pulse generator Hscast InstructionHSCSTHigh speed counter Available device Flag Instruction 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 Usage of Various Functions Pulse Catch Function Using methodUsage Minimum input pulse width Remark Usage of Various Functions Input Filter Function Usage of Various Functions External Interrupt Function External input signal Scan programMinimum processing time Function 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 Where, h sampling period Perform the auto tuning operationPID8 Perform the PID operation Usage of Various Functions ENP ENI END Usage of Various Functions DigitalOutput = Temp.⋅10 + Tse +1 PID8 InstructionPID Control Instruction Available device Flag PID8AT PID Auto Tuning Available device Program Example KGL-WINTPR Usage of Various Functions Usage of Various Functions Usage of Various Functions Usage of Various Functions Error code list D4980 Usage of Various Functions 1 A/D·D/A Combination module Performance specificationG7F-ADHA G7F-ADHB Voltage DC 0 ∼10V Explain about names of parts and functions G7F-ADHA Names of parts and functions① RUN LED Voltage Input Current Input Right current input G7F-ADHBLeft voltage input Analog output terminal Voltage output Current output 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 Name Contents Indicate the operating status the G7F-AT2A Usage of Various Functions Analog timerOff DC 5V power off or the G7F-AT2A module fault On normal operating Usage of Various Functions Explain about names of parts and functions Name Contents Error code D4880 ∼D4885 Parameter setting Digital conversion value registerBD bC bB BA b9 b8 b7 b6 B5 b4 b3 b2 B1 b0 D4880 CH1 CH0 Digital conversion value Temperature conversion characteristics4000 2000 6000 Type Wire No wiring Shield wireBurn-out detection function Wire resistance ≤10 Ω P0000 RTD input moduleP0040 ~ P004F Main unit input contact P000 ~ P023 Specification Items SpecificationPositioning FunctionDRT/DT type only Names of wiring terminal Output SpecificationP40, P41 COM1 Internal circuit and wiring example Setting Incremental End Single 000 100 Parameter settingUsage of Various Functions Positioning function Positioning function Please refer to the ‘7.3.4 Instruction’ for details Speed Control Uniform Speed Operation Operation methods are as follows Remark Operation patternStep No. can be assigned within 1 ~ Items of parameter Absolute End Single Start command Posist Operation Mode End OperationExample End operation Speed Absolute End Single 10,000 50,000 20,000 30,000 40,000 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 Origin Detection when Approximate origin turns off Return to OriginPOSORG Rising edge ↑Origin 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 Backlash Compensation Amount Bias SpeedSpeed Limit ② Origin return-Low speed Origin return parameterDwell Time DOG Positioning parameter Operation Mode is divided into following three kinds Usage of Various Functions Positioning Indirect startPOSIST Usage of Various Functions InstructionsPosist Positioning Indirect Start Instruction Available device Positioning Indirect Start Available device Instruction JOG OperationPOSJOG Positioning Control InstructionPOSCTR PosctrControl instruction designation Current position preset Instruction Available device Current position preset PosprsPreset value designation Posprs PWM output PWM PWMSV1 SV2 Speed control operation Posvel PosvelSpeed control operation Instruction Available device Possor Speed override PossorSpeed override instruction Instruction Available device Ch. for speed override0~1 SV Speed 5 ~ 100,000pps Posdst Positioning direct startPOSDST Return to originPOSORG PosorgReturn to origin Instruction Available device Usage of Various Functions Flag list and Error codes Flag listDevice Function Description 101 Error code Error ConditionCorrective 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 Dedicated Protocol Communication Communication FunctionsIntroduction 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 Sequence of command frame EOT BCCETX 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 RSS Monitor registerX##Blockmax blocks ② Continuous reading of device RSB H06 H3130 H5878 H3039 H03 RSS Monitor executionY## Command Registration Error code Tail Mode Bit Local Remote Connection Reading PLC StatusRSTPause 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 Parameter Setting Setting Communications ParameterUser Defined Protocol Communication VTH0B Setting frame Communication Functions FFH0C CRH0D SOH0E SUM XORMUL Communication Functions Kinds Value of sum check Last transmitting frame Type settingAscii Type Hex Type 05 31 32 33 34 04 30 Ascii Type Hex Type 05 31 32 33 34 04 36 Communication Functions User defined communication instructionSNDCOM Communication Functions InstructionExample of program Sndcom Example of Usage Communication Functions Communication Functions Communication Functions Setting and program of slave station Communication Functions Communication Functions Communication Functions Communication Functions Ascii mode Basic SpecificationRTU mode Modbus Protocol Communication Function code area Address areaData area LRC Check/CRC Check area Function code types and memory mapping Size of using dataModbus addressing rules H5000 Area Areacurrent value area H6000 Parameters Setting Map of wiringSetting communication parameter PLC Communication Functions Instruction and example Modbus communication instructionMODCOMModcom Remark Coil Status Example program Input Communication Functions No Protocol Communication Sending DataReceiving Data Parameter setting Communication Functions Instructions Error flag turns on, when designating area is overNo protocol receiveDRCV Drcv Dsnd No protocol sendDSND Communication Functions Examples Program Communication Parameter Setting Remote connection and communication I/F module Remote connectionRemote connection by built-in Cnet I/F Remote connection by modem Remote connection by Fnet I/F module Usage of G7L-CUEB Master Slave Wiring Example RS-422 I/FUsage of G7L-CUEC OFF Must be off Usage of G7L-FUEA/RUEA Wiring Example RS-485 I/FRDB SDA SDB SG Master Slave Usage of G7L-PBEA/DBEA Installation Environment InstallationPrecautions during installing Environment requirements Power consumption of each part Power consumption block diagram of PLC systemsPower Input Supply Part Main unit or Expansion Module handling instructions Handling Instructions OUT Mounting instructionsOutput part COM OUT Heat generating device 100mm or more Installation and Wiring Connection of expansion module Power Supply Wiring WiringPower Main circuit Device ※ T1,T2 constant voltage transformer Input Input and Output Devices Wiring Cable Specifications for wiring Installation and Wiring Grounding Maintenance and Inspection Daily InspectionLED ERR LED 10-2 Periodic Inspection Troubleshooting Basic Procedures of Troubleshooting Yes Kglwin Turn the power unit off and on Is RUN LED off? Contact the nearest service center11-4 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 Surge current of 10 times or more when turned on Transistor 1/3 to 1/5 rated current flow Destroyed11-11 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 Appendix 2 Flag List Special relay FAlways Off Operation error flag Latch Operation error flagOverflow error flag Relay Function F0040 to F005F Internal relay M App2-4 Data relay D App2-5 App2-6 App2-7 App2-8 Clock data Relay Description Appendix 3 External Dimensions Extension moduleStandard type 95 105 App3-1 Appendix 3 External Dimensions