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STEP1 Run XG5000 software.

Double
Click
STEP2 Create new project. Click

STEP3 Configure I/O Parameter.

STEP4 Edit Scan Program and Save Project.


STEP5 Connect to PLC and download Project.
STEP6 Run the PLC.
STEP1 Run XG5000 software. Double
Click
Click

STEP2 Create New XG-PM Project.

STEP3 Configure Common Parameter


STEP4 Connect to PLC and Execute "Network Slave Autoconnect".

STEP5 Configure Each Axis-Parameter.


STEP6 Edit Axis Position Data and Save Project.
In this example, I've changed all of "Operation speed" as 6000. And in PLC's Scan Program, "Target p
STEP7 Download XG-PM Project to PN04B motion module.
s Scan Program, "Target position" would be changed by "XSMD" command.
* There are 3 PLC programs in this example as below.

* InitVariables : Initializing user varialbes. This program executed just 1 time while PLC's mode changed to "RUN
* MotionControlCommon : This program handles all Servo Drives at the same time.
* AX1_MovingAndTeachingWithMPG : This program is simple example of using MPG to moving and teaching po

* Please refer to attached XG5000 project file for details of each program.
s mode changed to "RUN".

o moving and teaching position.


Device Comment
M00000 Connect All Drives
M00001 Servo On All Drives
M00002 Servo Off All Drives
M00003 Alarm Reset All Drives
M00004 Z-Axis Homing Command
M00005 X&Y Axis Homing Command
M00006 Stop All-Axis
… …
M00010 AX1_Connect Cmd
M00011 AX1_Servo On Cmd
M00012 AX1_Servo Off Cmd
M00013 AX1_Alarm Reset Cmd
M00014 AX1_Homing Cmd
M00015 Reserved
M00016 AX1_STOP Cmd
M00017 AX1_MPG Moving Cmd
M00018 AX1_Teaching Cmd
M00019 AX1_Reset Step Number as 1.
M0001A AX1_Set MPG Velocity Low
M0001B AX1_Set MPG Velocity Mid
M0001C AX1_Set MPG Velocity High

D00010 AX1_MPG Moving Velocity


D00011 AX1_Step Number to change target position with current position.
D00020 AX2_MPG Moving Velocity
D00021 AX2_Step Number to change target position with current position.
D00030 AX3_MPG Moving Velocity
D00031 AX3_Step Number to change target position with current position.

D01000 AX1_Operation State(Lower)


D01001 AX1_Operation State(Upper)
D01002 AX1_Information
D01003 AX1_External I/O signal state
D01004 AX1_Current Position(Lower)
D01005 AX1_Current Position(Upper)
D01006 AX1_Current Speed(Lower)
D01007 AX1_Current Speed(Upper)
D01008 AX1_Step Number
D01009 AX1_M Code
D01010 AX1_Error Information 0
D01011 AX1_Error Information 1
D01012 AX1_Error Information 2
D01013 AX1_Error Information 3
D01014 AX1_Error Information 4
D01015 AX1_Error Information 5
D01016 AX1_Error Information 6
D01017 AX1_Error Information 7
D01018 AX1_External Input Signal(Lower)
D01019 AX1_External Input Signal(Upper)
D01020 AX1_Servo Error Information
D01021 AX1_Encoder1 Value(Lower)
D01022 AX1_Encoder1 Value(Upper)
D01023 -
D01024 -
D01025 AX1_Command Position(Lower)
D01026 AX1_Command Position(Upper)
D01027 AX1_Command Speed(Lower)
D01028 AX1_Command Speed(Upper)
D01029 AX1_Torque
D01030 AX1_Common Error Information

D01100 AX2_Operation State(Lower)


D01101 AX2_Operation State(Upper)
D01102 AX2_Information
D01103 AX2_External I/O signal state
D01104 AX2_Current Position(Lower)
D01105 AX2_Current Position(Upper)
D01106 AX2_Current Speed(Lower)
D01107 AX2_Current Speed(Upper)
D01108 AX2_Step Number
D01109 AX2_M Code
D01110 AX2_Error Information 0
D01111 AX2_Error Information 1
D01112 AX2_Error Information 2
D01113 AX2_Error Information 3
D01114 AX2_Error Information 4
D01115 AX2_Error Information 5
D01116 AX2_Error Information 6
D01117 AX2_Error Information 7
D01118 AX2_External Input Signal(Lower)
D01119 AX2_External Input Signal(Upper)
D01120 AX2_Servo Error Information
D01121 AX2_Encoder1 Value(Lower)
D01122 AX2_Encoder1 Value(Upper)
D01123 -
D01124 -
D01125 AX2_Command Position(Lower)
D01126 AX2_Command Position(Upper)
D01127 AX2_Command Speed(Lower)
D01128 AX2_Command Speed(Upper)
D01129 AX2_Torque
D01130 AX2_Common Error Information

D01200 AX3_Operation State(Lower)


D01201 AX3_Operation State(Upper)
D01202 AX3_Information
D01203 AX3_External I/O signal state
D01204 AX3_Current Position(Lower)
D01205 AX3_Current Position(Upper)
D01206 AX3_Current Speed(Lower)
D01207 AX3_Current Speed(Upper)
D01208 AX3_Step Number
D01209 AX3_M Code
D01210 AX3_Error Information 0
D01211 AX3_Error Information 1
D01212 AX3_Error Information 2
D01213 AX3_Error Information 3
D01214 AX3_Error Information 4
D01215 AX3_Error Information 5
D01216 AX3_Error Information 6
D01217 AX3_Error Information 7
D01218 AX3_External Input Signal(Lower)
D01219 AX3_External Input Signal(Upper)
D01220 AX3_Servo Error Information
D01221 AX3_Encoder1 Value(Lower)
D01222 AX3_Encoder1 Value(Upper)
D01223 -
D01224 -
D01225 AX3_Command Position(Lower)
D01226 AX3_Command Position(Upper)
D01227 AX3_Command Speed(Lower)
D01228 AX3_Command Speed(Upper)
D01229 AX3_Torque
D01230 AX3_Common Error Information
Type
BIT
BIT
BIT
BIT
BIT
BIT
BIT

BIT
BIT
BIT
BIT
BIT
BIT
BIT
BIT
BIT
BIT
BIT
BIT
BIT

WORD
WORD
WORD
WORD
WORD
WORD

WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD

WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD

WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
* System I/O Parameter

* Configurations
- In this example encoder(connected to XBF-PN04B) used as MPG(Manual Pulse Generator).

Programming PC
(USB)

XBC-DN32UP PN04B

Encoder
(Used as MPG)
Encoder
(Used as MPG)
Servo Drive&Motor
Test-Kit
(EtherCAT)