Drive Control Instructions DRV: High Speed Positioning 16Bits Instruction: -- 32 Bits Instruction: Below Suitable Model: Function & Action X axis and Y axis high speed positioning with the maximum speed: S1 X axis target position; operands: K TD CD D FD. S2 The instruction specifies the travel to the target coordinates with independent settings for the X and Y-axes. This instruction doesn t realize interpolation function. Each axis s maximum speed is specified by parameter register FD898; acceleration/deceleration speed is determined by acceleration time parameter FD891 and deceleration parameter FD8912. Whether the position is incremental (distance from the zero point) or absolute (distance from the zero point) is specified by instruction ABS, INC When the target position, operate speed are specified by indirect registers, the system default them as double words. Program Example INC ;Incremental Drive Method; DRV K1 K2 ;High speed positioning with the maximum speed, the target address is: (1,2)
LIN: Linear Interpolation Positioning 16bits instruction:-- 32bits instruction: Below Suitable Model: Function & Action The instruction moves the machine to the target coordinates (X, Y) in a linear route by using the both axis at the same time. M S1 S2 S3 S4 DRV k1 k1 k k1 S1 X axes target position. Operands: K TD CD D FD S2 Y axes target position. Operands: K TD CD D FD S3 The third axis target position. Operands: K TD CD D FD S4 (Note: This instruction is not available for tri-axis control. The value set here is ignored, When X axes with out setting operation speed, it will take linear interpolation positioning in high speed. M S D LIN k1 k1 S. D. X axes target position. Operands: K, TD, CD, D, and FD Y axes target position. Operands: K, TD, C D, D, FD This instruction moves the machine to the target coordinates (X, Y) in a linear route by using the both axes at the same time. Whether the target position is incremental (indicating the distance from the current position) or absolute (indicating the distance from the coordinate zero point) is set by INC or ABS When the target position and operation speed are set by parameters, it is double digital operation. Program example
ABS Absolute drive method LIN K1 K2 K K5. This instruction moves the machine to the target position (1,2) in a linear route with the speed of 5KHz. CW/CCW Circular interpolation 16 digit instructions-- 32 digit instructions The following Applicable model Function & Action Circular interpolation with center point specification M S1 S2 S3 S4 S5 CW k1 k1 k1 k1 k1 S6 k1 S1 X axis target position, operands: K TD CD D FD. S2 Y axis target position, operands: K,TD CD D FD. S 3 Center point specification X axis position, operands: K TD CD D FD. S4 S1 Center point specification Y axis position, operands K TD CD D FD. S5 The third axis position, operands K TD CD D FD. (Notice: three axis s movement control is not open, so the setting value with no function but reverse it.) S6 Circular peripheral speed, operands: K TD CD D FD. Without peripheral speed, takes specification highest speed, as following M S1 S2 S3 S4 CW k1 k1 k1 k1 Circular interpolation, specification radius
M S1 S2 S3 S4 CW k1 k1 k1 k1 S5 k1 S1 X axis target position, operands K TD CD D FD. S2 Y axis target position, operands K TD CD D FD. S3 Circular radius, operands K TD CD D FD. S4 S1 The third axis movement control, operands: K TD CD D FD. (Notice: three-axis movement control is not open, so the setting value with no function but reverse it.) S6 Circular peripheral speed, operands: K TD CD D FD. CW is clockwise interpolation operation, CCW is anticlockwise interpolation operation. The radius is always treated as an incremental address from the center point of X/Y. the acceleration/deceleration time constant and the unit of peripheral speed are set by parameters of FD891,FD8912. Whether the target position is an incremental or absolute is set by cod INC or ABS. Target position, operation speed setting by parameters, specification unit is double operation. When the start point is equivalent to the end point or when the endpoint coordinates, the travel locus makes a complete circle. Program example ABS CW K1 K5 K2 K Specification absolute speed: This instruction specifies the travel to the target position (1,5) from the start position (6,5) Karound the center incremental address (2,) at the peripheral 5 speed 5KHz,the travel locus shown as blow.
DRVZ Machine zero return 16-bit function -- 32-bit function -- Applicable models: Function & Action X DRVZ When the instruction is executed, a machine zero return is performed. When a machine zero return operation is completed, the special auxiliary relays M8269 and M827 are return to on. In simultaneous 2-axis operation,this instruction returns both the X and the Y axis to the zero point simultaneously. To return only one axis to the zero point, refer to the following program example. Program example Only X axis is returned to the point first, then the Y axis is return to the zero point SET M8262 DRVZ RST M8262 SET M8261 ;Prohibits zero return operation of 1axis ;Returns X axis only to zero point. ;Allows zero return operation of 1 axis ;Prohibit zero return operation of axis
DRVZ RST M8261 ;Returns 1 axis only to zero point ;Allows zero return operation of axis. Notice: When both M8261 and M8262 are turned on or off, no operation is performed even if DRVZ is executed. CHK Servo end check 16-bit instructions -- 32-bit instructions -- Applicable models Function & Action CHK When interposal the CHK in the two operation control instructions, the travel will stop at the specification point, when interpolation operation continues, the machine performs non-stop operation and inflection points make a smooth curve. When you would like to move the machine from the target position A to the B position and then to the C position, interposal the CHK instruction between the two LIN instructions, the travel curve shown by the figure in the below, otherwise it shown by broken line. S1 S1 : CHK instruction operation winding, operands: X Y M S T C. After the CHK takes with winding (such as specification winding M1), after execute CHK instruction, until specification winging is on, execute next control operation. If the specification winding is on, its function equal to the CHK instruction with out winding.
DRVR Electrical zero return 16-bits instruction -- 32-bits instruction -- Applicable models Function & Action X DRVR When this instruction is executed, the machine returns to the electrical zero point (set to the electrical zero point register) at high speed, and the servo end check is performed. The acceleration/deceleration time is determined by parameter FD891 and parameter FD8912, and the operation speed is determined by parameter FD8912. TIM Stabilization time (Dwell) 16-bit instruction -- 32-bit instruction: remarks Applicable models Function & Action X S1 TIM K1 S1 : Stabilization time(dwell),operands K TD CD D FD. Use this instruction to set the waiting time between completion of one instruction and execution of another.
TIM Unit is 1ms,such as K1 stands for 1ms dwell. The value of dwell time set by data register indirectly. Default is double bits operation. ABS Absolute address 16-bit instruction -- 32-bit instruction -- Applicable models Function & Action The address coordinates(x,y) used after the ABS instruction are regard as absolute values from the zero point(,). However, the coordinates of the arc center point (I, j),the radius (r),the travel are always regarded as incremental values. An address is regard as an absolute value when specification is omitted. INC Incremental address 16-bit instruction -- 32-bit instruction -- Applicable models
Function & Action The address coordinates (X, Y) used after the INC instruction are regarded as incremental values from the present position. FOLLOW Following instruction 16-bit instruction -- 32-bit instruction As follows Applicable models Function & Action M S1 S2 S3 S4 S5 FOLLOW C63 K1 K2 Y Y1 S1 S2 : Stands for using high-speed counter, AB phase, single phase or direction +pulse : Operand K1 is multiplicative coefficient,operands : K TD CD D FD. S3 : Operand K2 is divided coefficient,operands: K TD CD D FD S4 S1 S5 : Operand Y is output pulse terminal port NO. : Operand Y1 is output pulse direction terminal port NO. The following instruction is a output after multiplier the input of high-speed counting. The output frequency changes in accordance with the input frequency, the total number is calculated through the parameters of multiplication and division. The instruction is used to increase or decrease the high-speed pulse in percentage, then use the Y,Y1 to output.
Position parameters PARA N. Special Name Description Default 1 FD889 System of units Unopened 2 3 4 5 6 7 8 9 1 11 12 13 14 15 16 17 18 FD8892 FD8893 FD8894 FD8895 FD8896 FD8897 FD8898 FD8899 FD89 FD891 FD892 FD893 FD894, FD895 FD896 FD897 FD898 FD899 FD891 FD8911 FD8912 FD8913 FD8914 FD8915 FD8916 FD8917 FD8918 FD8919 FD892 FD8921 FD8922 FD8923 FD8924 FD8925 Pulse rate ( axis) Pulse NO. Per rotate Pulse rate (1 axis) Motor pulse NO. Pulse rate (2 axis) Pulse NO. Per rotate Pulse rate (3 axis) Pulse NO. Per rotate Motor precision ( Movement length axis) per rotate Motor precision (1 Movement length axis) per rotate Motor precision (2 Motor movement axis) length Motor precision (3 Motor movement axis) length Frequency setting Unit Hz Acceleration time Unit ms Deceleration time Unit ms Electrical zero point ( axis) Electrical zero point (1 axis) Electrical zero point (2 axis) Electrical zero point (3 axis) Machine zero point ( axis) Machine zero point (1 axis)
19 FD8926 FD8927 Machine zero point (2 axis) 2 FD8928 FD8929 Machine zero point (3 axis) 21 FD893 FD8931 Machine zero point return frequency 22 FD8932 FD8933 Machine zero point return point creep speed Peripheral output X1 23 FD8934 FD8935 Last movement pulse NO. Peripheral input X1 24 FD8936 FD8937 Software upperlimit Unopened FD8938 Software 25 Unopened FD8939 Lower-limit 26 FD894 Multiplying factor (2 power) Percentage Following 27 FD9 maximum NO. Is movement rate 1 Present position ( D8482 28 axis) D8483 29 3 31 32 D8484 D8485 D8486 D8487 D8488 D8489 D849 D8491 Present position (1 axis) Present position (2 axis) Present position (3 axis) Present part specification
Parameter table 2 PARA NO. Special control relay Description Default 6 M826 Flow control 61 M8261 Prohibit axis machine zero return 62 M8262 Prohibit 1 axis machine zero return 63 M8263 Prohibit 2 axis machine zero return 64 M8264 Prohibit 3 axis machine zero return 65 M8265 axis machine zero return point direction 66 M8266 1 axis machine zero point direction 67 M8267 2 axis machine zero point direction 68 M8268 3 axis machine zero point direction 69 M8269 axis machine ending 7 M827 axis machine ending 71 M8271 1 axis machine ending 72 M8272 2 axis machine ending 73 M8273 Machine zero return the first interpolation logic 74 M8274 Machine zero return the first interpolation logic 75 M8275 Limit switch logic
Positioning parameters PARA.1: system of units Set the units for the position and the speed setting="": The mechanical System of units. [Controls the position based on mm, deg, inch, etc. ] Setting="1":The motor system of units. [Control the position based on PLS (pulse) ] Setting="2":The combined system of units.[controls the position using the mechanical system of units and the speed using the motor system of units.] In accordance with the setting of PARA., the parameters are expressed in the units shown in the table below. PARA. NO. : Mechanical 1 : Motor 2 :Combined Setting required Ignored Setting required NO.1 NO.2 NO.3 mm deg inch PLS mm deg inch NO.4 NO.5 NO.6 cm/min deg/min Hz Hz NO.13 NO.14 Inch/min PARA.1 and PARA.2 are valid only when PARA. is set to or 2. They are ignored when PARA. is set to 1. The relationship between the motor system of units and the combination system of units is expressed in the following formula: Motor system of units(pls) =[PARA..1 Travel(mm, deg, inch)]/pasa.2 PASA.2: Pulse rate Set the number of pulses per rotation of the motor to be given to the drive unit. Setting range: 1 to 65535 PLS (pulse)/rev When the servomotor is equipped with an electronic gear, its magnification should be taken into account. The relationship between the pulse rate and the electronic gear is as follows: Pulse rate (PASA.1)=Resolution of encoder (positioning feedbackpulse) /Electronicgear(CMX/CDV) PARA.3, PASA.4, PASA.5 set the number of pulses per rotation of the motor to the drive unit of 1axis, 2axis, 3axis. The basic set is the same as PARA.2. PARA.6: Feed rate Set the travel of the machine per rotation of the motor
Setting range :1~999999 um/rev mdeg/rev minch/rev PARA.7, PAARA.8, PARA.9 set the travel per rotation of the motor to the machine of 1axis, 2axis, 3axis. The basic set is the same as PARA.2. PARA.1: Maximum speed When the speed is not specified in a positioning program, the machine operates at the speed set here. Other speeds must be set to a value equivalent to or less than this maximum value. Setting range: ~5 Hz PARA.11: acceleration time Set the time required to achieve the maximum speed. Setting range: ~5ms When PARA.11is set to,the machine actually accelerates in 1 ms. PARA.12: Deceleration time Set the time required to stop the machine. Setting range:~5ms When PARA.12 is set to, the machine actually accelerates in 1 ms. PARA.13: Electrical zero point address Set the absolute address for electrical zero return executed by the cod 3 (DRVR) instruction. Setting range -999999 to +999999 The address set by PARA.13 represents an absolute value. PARA.14, PARA.15, PARA.16 set the electrical zero point absolute addresses on 1axis,2 axis, 3 axis. The basic set is the same as PARA.13. PARA.17 : Machine zero point address Set the present address at which the machine is placed when the zero return operation is completed. Setting range:-999999 to +999999 PARA.18, PARA.19, PARA.2 set the machine zero point address on 1 axis, 2 axis, 3 axis. The basic set is the same as PARA.17. PARA21: Zero return speed Set the speed adopted when the machine is returning to the zero point, the set value must be equivalent to or less than the maximum speed set to PARA.4. Setting range:1 to 5 Hz
PARA.22: Creep speed Set the low speed adopted after the near-point DOG1 signal is turn ON. Setting range: 1 to 5 Hz PARA.23: Set the number of zero point to be counted after the DOG2 signal (X11 switch input) is turned on, until the machine is stopped. Setting range: to 2147483647 PARA.24: software upper-limit (unopened) PARA.25: software lower-limit (unopened) PARA.26: Multiplying factor The integral form data storage at the operation, so that the decimal part can be easily ignorant. Before the operation, we should multiply 2 to improve the operation precision, at the end of the operation, Division rate for multiplied result. The more precision of the result, the bigger of the multiplying factor, but too big may cause register over output. Generally we set n equaled to 6 Setting range: to measurable PARA.26: Following movement instruction rate Movement instruction use timing interrupt, follow as two interrupt the value of high counter. Following movement use time interrupt; output the frequency after count two interrupt in the highspeed counter. So a waiting time occurs, and output 2ms later than input. We take following movement to composition the time. Setting range: ~1
In order to understand the significance of the parameters better, we have an example to resolve. Edit ladder as follows: M FOLLOW C63 K1 K1 Y Y1 We use C63 counter to count the peripheral input pulse, and set the coefficient of multiple, divide into 1.When M is set ON, Y Y1 output pulse on the rate of 1:1. Set the following movement rate to 5, the total output pulse and total input at different timing interrupt are as follows: When no interrupt occurs, total input pulse: P =; total output pulse: M =; When the 1st interrupt occurs, total input pulse: P =2; total output pulse: M =; When the 2nd interrupt occurs, total input pulse: P =4; total output pulse: M =3;; When the 3rd interrupt occurs, total input pulse: P =6; total output pulse: M =5; When the 4th interrupt occurs, total input pulse: P =8; total output pulse: M =7; When the nth interrupt occurs, total input pulse: P n ; total output pulse: M n ; Each time the output pulse is the operational result of the last time input pulse and the following movement coefficient. The relationship between them are as follows: When the frequency of input pulse equal or bigger than 2Hz The next time output pulse NO. = P n P n-1 K+ P n M n 1 (k: Following movement rate, in the example k=5%) When the frequency of input pulse less than 2Hz, more than or equal to 5Hz The next time output pulse NO. = P n P n-1 K (f/2)+ P n M n 1 (NOTE: f: The frequency of input pulse unit: Hz, K: following movement instruction rate, in the example k=5%) When the frequency of input pulse less than 5Hz: Following movement rate change into automatically. PARA.32: Present operation specification Display the code of the executing movement control instruction.the codes are specified automatically from up to down.
Input pulse, output pulse tendency Fig. 8PLS 7PLS 6PLS 5PLS 4PLS 3PLS 2PLS output pulse trendline input pulse trendline PLS interrupt 2ms 2ms 2ms 2ms 1st 2nd 3rd 4th nth PARA.6: Flow control Movement control instructions are step type, that is different from ladder likes scanning in PLC, only complete one control instruction then execute another one. For example, when the instructions as follows, use a special register (M826) to display the last instruction status, when the movement control is preformed, M826 will be hung in the air. After that M826 will be return, so the instruction will be executed when receive M826 decender. Repeat as before. Start a instruction Open the operation The end of the instruction t M826 PARA.61: prohibit axis machine zero return When the instruction is set, zero return operation of the axis is useless. PARA.62, PARA.63, PARA.64 are corresponding with 1 axis, 2 axis, 3 axis. And the functions are the same as PARA.61. PARA.65: axis machine zero return direction Set the direction when the zero return instruction is given, according to the set of special register M8265. The relationship between the set value and direction of M8265 is shown as below:
Set value Direction Direction in which the present value increase 1 Direction in which the present value decrease PARA.66, PARA.67, PARA.68 are corresponding with 1 axis, 2 axis, 3 axis. Its function is same as PARA.65. PARA.69: axis machine zero point return When execute DRVZ instruction, M8269 will be set from ON to OFF, when the operation reaches at machine zero point, set M8269 be ON again. Execute DRVR instruction M8269 ON OFF ON PARA.7, PARA.71, PARA.72 corresponding with 1 axis, 2 axes, 3 axes. Its function is same as PARA.69 OFF PARA.73: set the fist interpolation switch (DOG1) input logic of machine zero return (special relay M8273, in PARA. table 2) Setting value DOG1statue Normally open 1 Normally close PARA.74: set the second interpolation switch (DOG2) input logic of machine zero return (special relay M8274, PARA. table 2) Setting value DOG2 status Normally open 1 Normally closed PARA.75: Limit switch logic (special relay M8275) Set the machine operation limit switch (LS) logic. Set Limit switch logic. Setting Value Limit switch status Normally open 1 Normally close