GE Fanuc Intelligent Platforms
Programmable Control Products
VersaMax®
Micro PLC
MicroMotion Modules, GFK-2471A
December, 2008
GFL-002
Warnings, Cautions, and Notes
as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury exist in this
equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment,
a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes no
obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
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All Rights Reserved
Contents
Chapter 1
Introduction............................................................................................ 1-1
Module Description ........................................................................................................... 1-3
MicroMotion Module Features........................................................................................... 1-4
Specifications .................................................................................................................... 1-5
General Specifications.............................................................................................. 1-5
Functional Specifications.......................................................................................... 1-6
I/O Specifications...................................................................................................... 1-7
Expansion or Standalone Operation ................................................................................. 1-8
Expansion Operation in a VersaMax Micro PLC ...................................................... 1-8
Standalone Operation of MicroMotion Modules ....................................................... 1-8
MicroMotion Setup Tool .................................................................................................. 1-10
Operating Mode Summary .............................................................................................. 1-11
External Inputs to a MicroMotion Module........................................................................ 1-12
Chapter 2
Installation.............................................................................................. 2-1
Preinstallation Check ........................................................................................................ 2-1
Agency Approvals, Standards, and General Specifications ............................................. 2-2
Immunity and Emissions, Relevant Standards, and Level Passed................................... 2-2
Installation Guidelines ....................................................................................................... 2-3
CE Mark Installation Requirement............................................................................ 2-3
UL Requirements for Class I Div 2 Installations ....................................................... 2-3
Additional Environmental Guidelines........................................................................ 2-4
Installing a MicroMotion Module on a DIN Rail or Panel .................................................. 2-5
Mounting Dimensions ............................................................................................... 2-5
Mounting a Module on a DIN Rail ............................................................................ 2-6
Removing a Module from a DIN Rail ........................................................................ 2-7
Panel-Mounting ........................................................................................................ 2-7
Grounding the Metal Panel or DIN Rail .................................................................... 2-7
Connecting a MicroMotion Module to a Micro PLC........................................................... 2-8
The Expansion Cable ............................................................................................... 2-8
DIP Switch Settings........................................................................................................... 2-9
Communications Setup ................................................................................................... 2-10
System Wiring Guidelines ............................................................................................... 2-11
Safety Measures..................................................................................................... 2-12
Installing Additional Suppression ........................................................................... 2-12
I/O Installation and Wiring ............................................................................................... 2-13
Wiring Connections ................................................................................................ 2-14
Removable Wiring Terminals ................................................................................. 2-15
Power Wiring .......................................................................................................... 2-16
Separation of the Power Supply ............................................................................. 2-17
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Terminal Assignments..................................................................................................... 2-18
I/O Signal Wiring..................................................................................................... 2-18
I/O Signals .............................................................................................................. 2-19
Output Wiring to a Servo Amplifier ......................................................................... 2-20
Adding an Emergency Stop Circuit ........................................................................ 2-21
Starting Up the Module ................................................................................................... 2-22
Normal Powerup Sequence.................................................................................... 2-22
LEDs on the MicroMotion Module .......................................................................... 2-22
Chapter 3
Port Option Modules.............................................................................. 3-1
Types of Port Option Modules........................................................................................... 3-2
Port Option Modules for MODBUS Communications............................................... 3-2
RS232 Port Option Module ............................................................................................... 3-3
RS422/485 Port Option Module ........................................................................................ 3-4
USB / RS232 Conversion Option Module ......................................................................... 3-5
Ethernet Option Module .................................................................................................... 3-6
Ethernet Option Module Status LEDs ...................................................................... 3-6
Ethernet Option Module Specifications .................................................................... 3-6
Ethernet Communications Drivers............................................................................ 3-7
Setting the IP Address.............................................................................................. 3-7
Port Option Module Installation ......................................................................................... 3-8
Communications Setup ..................................................................................................... 3-9
DIP Switch Setting for Communications................................................................... 3-9
Communications Parameters: Setup Tool.............................................................. 3-10
Communications Parameters: VersaMax Micro PLC CPU .................................... 3-11
Communications Parameters: Host Controller ....................................................... 3-12
Chapter 4
Memory Pack Option Module................................................................ 4-1
Memory Pack Description ................................................................................................. 4-2
Write Protect Switch on the Memory Pack ............................................................... 4-2
MicroMotion Module Memory Protect Switch.................................................................... 4-3
Memory Pack Installation .................................................................................................. 4-4
Using a Memory Pack with –AA MicroMotion Modules............................................ 4-4
Reading Data from a Memory Pack .................................................................................. 4-5
Writing Data to a Memory Pack ........................................................................................ 4-6
Writing Data to a Memory Pack: Setup Tool ............................................................ 4-7
Writing Data to a Memory Pack: VersaMax Micro PLC CPU................................... 4-8
Writing Data to a Memory Pack: Host Controller...................................................... 4-9
Chapter 5
Homing Mode ......................................................................................... 5-1
Homing Mode Overview.................................................................................................... 5-2
Input Pulse Homing .................................................................................................. 5-2
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Free Homing...................................................................................................................... 5-3
Low-Speed Homing........................................................................................................... 5-4
Low-Speed Homing when Home Position Limit Switch is Off .................................. 5-4
Low-Speed Homing when Home Position Limit Switch is On .................................. 5-5
High-Speed Homing [Off-Edge] ........................................................................................ 5-6
Home Position Limit Switch is Off at the start of High-Speed Homing [Off Edge] ... 5-6
Home Position Limit Switch is On at the start of High-Speed Homing [Off Edge] ... 5-7
High-Speed Homing [Marker]............................................................................................ 5-8
Home Position Limit Switch is Off at the start of High-Speed Homing [Marker] ...... 5-8
Home Position Limit Switch is On at the start of High-Speed Homing [Marker] ...... 5-9
Effects of External Inputs on Homing.............................................................................. 5-10
Setting Up, Controlling, and Monitoring Homing............................................................. 5-12
Homing Summary: MicroMotion Setup Tool........................................................... 5-12
Homing Summary: VersaMax Micro PLC CPU ...................................................... 5-13
Homing Summary: Host Controller......................................................................... 5-14
Chapter 6
Manual Mode .......................................................................................... 6-1
Overview of Manual Mode ................................................................................................ 6-2
Operations in Manual Mode ..................................................................................... 6-2
Additional Features in Manual Mode ........................................................................ 6-2
Operation by Command .................................................................................................... 6-3
Jogging Operation by Command.............................................................................. 6-3
Inching Operation by Command............................................................................... 6-4
Effect of External Inputs During Manual Operation by Command ........................... 6-5
Manual Mode Operation Controlled by External Inputs .................................................... 6-6
Operation in External Input Mode............................................................................. 6-7
Executing Commands During External Inputs Manual Mode................................... 6-9
Effect of External Inputs During Manual Operation by External Inputs .................. 6-10
Setting Up, Controlling, and Monitoring Manual Mode ................................................... 6-12
Manual Mode Summary: MicroMotion Setup Tool ................................................. 6-12
Manual Mode Summary: VersaMax Micro PLC CPU ............................................ 6-13
Manual Mode Summary: Host Controller ............................................................... 6-14
Chapter 7
Auto Mode Operation ............................................................................ 7-1
Auto Mode Operation ........................................................................................................ 7-2
Additional Features of Auto Mode ............................................................................ 7-2
Profiles for Auto Mode....................................................................................................... 7-3
Using the Same Profiles for Both Axes .................................................................... 7-3
Sequence Tables .............................................................................................................. 7-4
Registered and Specified Sequence Tables ............................................................ 7-4
Breakpoints in a Registered Sequence Table .......................................................... 7-5
Parameters of Profile Instances in a Sequence Table ............................................. 7-7
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Effects of External Inputs in Auto Mode .......................................................................... 7-15
Jog Forward Input in Auto Mode ............................................................................ 7-15
HSR Input in Auto Mode......................................................................................... 7-15
Setting Up, Controlling, and Monitoring Auto Mode........................................................ 7-16
Auto Mode Summary: MicroMotion Setup Tool...................................................... 7-16
Auto Mode Summary: VersaMax Micro PLC CPU ................................................. 7-18
Auto Mode Summary: Host Controller.................................................................... 7-20
Data Format of a Sequence Table ......................................................................... 7-22
Data Format of a Profile ......................................................................................... 7-23
Data Format of a Dwell........................................................................................... 7-23
Chapter 8
Follower Operation ................................................................................ 8-1
Follower Operation ............................................................................................................ 8-2
Manual Mode Example of a Follower Axis ............................................................... 8-2
Auto Mode Example of a Follower Axis.................................................................... 8-3
Homing Mode Operation of a Follower Axis ............................................................. 8-4
Windowing Operation with a Follower Axis .............................................................. 8-4
Standby/Run Status of the Follower Axis.......................................................................... 8-5
Standby/Run Indications in Manual Mode (Inching + Jog )...................................... 8-5
Standby/Run Indications in Auto Mode .................................................................... 8-6
Using a Gear Ratio for Follower Operation....................................................................... 8-7
Automatic Adjustments Based on the Gear Ratio .................................................... 8-8
Velocity Limits in Follower Operation ....................................................................... 8-9
Initial Velocity of the Master Axis in Manual Mode ................................................. 8-10
Position Limits for Rotary Axes in Follower Operation ........................................... 8-11
Timing Considerations for Follower Operation................................................................ 8-12
Timing for Velocity Correction ................................................................................ 8-12
Axis Stops in Manual or Auto Mode (Speed Control)............................................. 8-13
Auto Mode (Position Control) ................................................................................. 8-13
Changing Directly from Acceleration to Deceleration............................................. 8-14
Effects of External Inputs on Follower Operations.......................................................... 8-15
Positioning Complete Input..................................................................................... 8-15
Forward or Reverse Overtravel Input ..................................................................... 8-16
Drive Ready Input ................................................................................................... 8-16
Emergency Stop Input ............................................................................................ 8-17
Feedrate Override Input ......................................................................................... 8-17
High-Speed Registration Input ............................................................................... 8-18
Jog Forward / Jog Reverse Inputs.......................................................................... 8-18
Setting Up, Controlling, and Monitoring Follower Operation........................................... 8-19
Follower Operation Summary: MicroMotion Setup Tool ........................................ 8-19
Follower Operation Summary: VersaMax Micro PLC CPU .................................... 8-20
Follower Operation Summary: Host Controller....................................................... 8-22
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Contents
Chapter 9
Windowing.............................................................................................. 9-1
Overview of Windowing..................................................................................................... 9-2
Monitoring Windowing .............................................................................................. 9-2
Parameters of Windowing ................................................................................................. 9-3
The Windowing Base Point ...................................................................................... 9-4
The Windowing Interval ............................................................................................ 9-4
Band (CW and CCW) ............................................................................................... 9-4
Velocity Override Ratio............................................................................................. 9-5
Choosing Windowing Parameters Correctly............................................................. 9-6
Starting Position for Windowing ........................................................................................ 9-8
Using the High-Speed Registration Input in Windowing ................................................... 9-9
Enabling / Disabling the HSR Input .......................................................................... 9-9
Interval Auto-Adjustment ........................................................................................ 9-12
Windowing for a Rotary Axis ........................................................................................... 9-15
Windowing Operation in Manual Mode ........................................................................... 9-16
Windowing Operation during Inching ..................................................................... 9-16
Windowing Operation during Inching + Jog ........................................................... 9-16
Windowing Operation during Jogging .................................................................... 9-16
Windowing Operation in Auto Mode ............................................................................... 9-17
Single Cycle of a Sequence Table ......................................................................... 9-17
Continuous Cycles of a Sequence Table ............................................................... 9-17
Windowing and Follower Mode ....................................................................................... 9-18
Effects of External Inputs on Windowing ........................................................................ 9-19
Setting Up, Controlling, and Monitoring Windowing........................................................ 9-20
Enabling and Disabling Windowing ........................................................................ 9-20
Windowing Summary: MicroMotion Setup Tool ..................................................... 9-21
Windowing Summary: VersaMax Micro PLC CPU................................................. 9-22
Windowing Summary: Host Controller ................................................................... 9-23
Chapter 10
External Inputs..................................................................................... 10-1
External Inputs of the MicroMotion Module..................................................................... 10-2
The Marker Input ............................................................................................................. 10-3
High-Speed Registration Input ........................................................................................ 10-4
Operation of High-Speed Registration ................................................................... 10-4
Positioning Complete Input ............................................................................................. 10-6
Effect of a Stop on Positioning Complete............................................................... 10-6
Home Position Limit Input ............................................................................................... 10-7
Forward and Reverse Overtravel Inputs ......................................................................... 10-8
Restarting Operation After an Overtravel Occurs................................................... 10-8
Feedrate Override Input ................................................................................................ 10-10
Operation of Feedrate Override............................................................................ 10-10
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Feedrate Override Percentage ............................................................................. 10-10
Turning Feedrate Override On ............................................................................. 10-11
Turning Feedrate Override Off ............................................................................. 10-11
Combined Action of the FE Input and Feedrate Override Commands ................ 10-12
Jog Forward and Jog Reverse Inputs ........................................................................... 10-13
JF / JR Input in Manual Mode............................................................................... 10-13
JF Input in Auto Mode .......................................................................................... 10-15
JF / JR Input in Follower Mode............................................................................. 10-15
Drive OK/Ready Input ................................................................................................... 10-16
Emergency Stop Input................................................................................................... 10-17
Setting Up and Monitoring External Inputs ................................................................... 10-18
External Inputs Summary: MicroMotion Setup Tool ............................................. 10-18
External Inputs Summary: VersaMax Micro PLC CPU ........................................ 10-19
External Inputs Summary: Host Controller ........................................................... 10-20
Chapter 11
The Common Parameters ................................................................... 11-1
Common Parameters Reference Table .......................................................................... 11-2
Common Parameter Descriptions ................................................................................... 11-5
Common Parameter Word 1: Setup Bits for Outputs ............................................. 11-5
Common Parameter Word 2: Setup Bits for Input Feedback............................... 11-10
Common Parameter Word 3: Setup Bits for External Inputs................................ 11-14
Common Parameter 4: Pulses per Motor Rotation for Outputs ........................... 11-19
Common Parameter 5: User Units per Motor Rotation for Outputs ..................... 11-19
Common Parameter 6: Velocity Limit.................................................................. 11-20
Common Parameter 7: Initial Velocity for Auto Mode .......................................... 11-20
Common Parameter 8: Find Home Velocity (Low, High) ..................................... 11-20
Common Parameter 9: Final Home Velocity ........................................................ 11-20
Common Parameter 10: Acceleration Rate.......................................................... 11-20
Common Parameter 11: Deceleration Rate ......................................................... 11-20
Common Parameter 12: Maximum Velocity......................................................... 11-21
Common Parameter 13: Initial Velocity ................................................................ 11-21
Common Parameter 14: Acceleration Rate.......................................................... 11-21
Common Parameter 15: Deceleration Rate ......................................................... 11-21
Common Parameter 16: Inching Distance ........................................................... 11-21
Common Parameter 17: Backlash Compensation ............................................... 11-22
Common Parameter 18: Feedrate Override Percentage ..................................... 11-23
Common Parameter 19: Gear Ratio in Follower Mode ........................................ 11-23
Common Parameter 20: Upper Position Limit for Outputs................................... 11-24
Common Parameter 21: Lower Position Limit...................................................... 11-24
Common Parameter 22: Home Position............................................................... 11-25
Common Parameter 23: Home Position Offset .................................................... 11-25
Common Parameter 24: Registration Move Distance .......................................... 11-25
Common Parameter 25: Pulses per Motor Rotation for Input Feedback ............. 11-26
Common Parameter 26: User Units per Motor Rotation for Input Feedback ....... 11-26
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Common Parameter 27: Upper Position Limit for Input Feedback....................... 11-27
Common Parameter 28: Free-form Units for Outputs .......................................... 11-28
Common Parameter 29: Free-form Units for Input Feedback.............................. 11-28
Common Parameter 30: Window Interval ............................................................ 11-29
Common Parameter 31: Window Band, CW ........................................................ 11-29
Common Parameter 32: Window Band, CCW ..................................................... 11-30
Common Parameter 33: Windowing Velocity Override ........................................ 11-30
Common Parameter 34: Windowing Base Point .................................................. 11-30
Guidelines for Changing Parameters............................................................................ 11-31
Changing Common Parameters when the User Units are Pulses ....................... 11-32
Changing Common Parameters when the User Units are NOT Pulses............... 11-33
Chapter 12
Using the MicroMotion Setup Tool..................................................... 12-1
Opening the MicroMotion Setup Tool ............................................................................. 12-2
Setup Tool Main Window ................................................................................................ 12-3
Accessing Basic Setup Tool Functions .................................................................. 12-3
Operating Online or Offline..................................................................................... 12-5
Monitoring a MicroMotion Module .......................................................................... 12-6
Initializing Motion Module Parameters ................................................................. 12-11
Read and Writing Parameter Data ....................................................................... 12-11
Setting Up Serial Communications Parameters ................................................... 12-15
Setting Up Communications Parameters for the Setup Tool ............................... 12-16
Setting Up Common Parameters .................................................................................. 12-17
Changing the Common Parameters in Online Mode ........................................... 12-19
Motion Parameters ............................................................................................... 12-20
Input Parameters .................................................................................................. 12-21
Homing Mode Parameters.................................................................................... 12-22
Manual Mode Parameters .................................................................................... 12-23
Auto Mode Parameter .......................................................................................... 12-24
Follower Operation Parameter ............................................................................. 12-24
Checking the Common Parameters ..................................................................... 12-25
Writing Parameters to the MicroMotion Module ................................................... 12-25
Setting Up Profiles for Auto Mode................................................................................. 12-26
Defining Profiles in Offline or Online Mode .......................................................... 12-26
Profile Numbers .................................................................................................... 12-27
Teaching Profiles Window .................................................................................... 12-29
Setting Up a Sequence Table ....................................................................................... 12-30
Setting Up a Sequence Table to Verify Axis Position .......................................... 12-33
Chapter 13
Configuring a MicroMotion Expansion Module................................. 13-1
Module Configuration Using Machine Edition ................................................................. 13-2
Configure the Motion I/O Settings for a VersaMax CPU ........................................ 13-3
Configure the Wiring Information............................................................................ 13-3
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Open the MicroMotion Setup Tool .................................................................................. 13-4
Using the MicroMotion Setup Tool with Version –AA MicroMotion Modules ......... 13-4
Chapter 14
Exchanging Data with a VersaMax Micro PLC CPU.......................... 14-1
Expansion Operation in a VersaMax Micro PLC............................................................. 14-2
Data Exchange Between the CPU and MicroMotion Module ......................................... 14-3
Output Control Data Sent by the VersaMax Micro PLC CPU ......................................... 14-4
Commands ............................................................................................................. 14-5
Storing Operating Data to Backup Memory............................................................ 14-5
Error Status when Sending Commands ............................................................... 14-13
Sending Commands ............................................................................................. 14-14
Input Status Data Sent by a MicroMotion Module......................................................... 14-29
Input Status Data Word 1: Handshaking and Axis Status.................................... 14-30
Input Status Data Word 2: External Input States.................................................. 14-31
Input Status Data Words 3 and 4: Axis Data........................................................ 14-32
Input Status Data Words 5 to 8: Axis Status or Requested Data......................... 14-33
Chapter 15
Exchanging Data with a Host Controller............................................ 15-1
Host Controller Overview ................................................................................................ 15-2
Host Controller in a VersaMax Micro PLC System................................................. 15-2
Host Controller in a Standalone Motion Application ............................................... 15-2
Port Option Module Selection................................................................................. 15-3
MODBUS Data Types for MicroMotion Modules.................................................... 15-4
MODBUS Commands for MicroMotion Modules.................................................... 15-4
Writing and Storing Data to the Module ................................................................. 15-5
MODBUS Communications Sequences ......................................................................... 15-8
Setting Up Parameters ........................................................................................... 15-8
Reading Module Data............................................................................................. 15-9
Controlling the Module............................................................................................ 15-9
MODBUS Data Formats for MicroMotion Modules ....................................................... 15-10
Coils Table............................................................................................................ 15-10
Input Status Bits ................................................................................................... 15-15
Input Registers...................................................................................................... 15-17
Holding Registers ................................................................................................. 15-26
MODBUS Function Code Descriptions ......................................................................... 15-32
Function Code 0x01 (Read Coil Status) ............................................................... 15-32
Function Code 0x02 (Read Input Status) ............................................................. 15-33
Function Code 0x03 (Read Holding Registers).................................................... 15-34
Function Code 0x04 (Read Input Registers) ........................................................ 15-35
Function Code 0x05 (Force Single Coil) .............................................................. 15-36
Function Code 0x06 (Force Single Register) ....................................................... 15-37
Function Code 0x0F (Force Multiple Coils) .......................................................... 15-38
Function Code 0x10 (Force Multiple Registers) ................................................... 15-39
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Contents
Chapter 16
Error Codes .......................................................................................... 16-1
Types of Errors................................................................................................................ 16-2
Axis Errors .............................................................................................................. 16-2
System Errors ......................................................................................................... 16-2
Error Codes for Axis Errors ............................................................................................. 16-3
Error Codes for System Errors........................................................................................ 16-9
Reading and Clearing Errors......................................................................................... 16-12
Error Handling from the MicroMotion Setup Tool ................................................. 16-12
Error Handling from a VersaMax Micro PLC CPU ............................................... 16-13
Error Handling from a Host Controller .................................................................. 16-14
Appendix A
Floating Point Data ................................................................................A-1
Floating Point Data Format ...............................................................................................A-1
Using Floating Point Data .................................................................................................A-3
Floating Point Accuracy of the MicroMotion Module ................................................A-4
Position Errors in Auto Mode....................................................................................A-4
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Chapter
Introduction
1
This manual describes the specifications, installation, and operation of the VersaMax
Micro PLC’s MicroMotion Modules, IC200UMM002 and IC200UMM102.
Chapter 1 lists general, functional, and I/O specifications, and gives an overview of
module operation.
Chapter 2: Installation, gives basic information for installing and wiring MicroMotion
Modules. For VersaMax Micro PLC installation instructions, please refer to the
VersaMax Micro PLC User’s Manual, GFK-1645.
Chapter 3: Port Option Modules, describes the use of a Port Option module with a
MicroMotion Module. A Port Option module is required for communications with a host
controller.
Chapter 4: Memory Pack Modules, describes the use of a Memory Pack module with
a MicroMotion Module.
Chapter 5: Homing Mode, describes options for establishing the Home Position of an
axis.
Chapter 6: Manual Mode, explains how inching and jog movements can be controlled
using external input signals or commands from the controller.
Chapter 7: Auto Mode, explains how a MicroMotion Module can use a sequence of
pre-defined profile and dwell data to perform automatic operations.
Chapter 8: Follower Operation, describes the Follower feature of MicroMotion
Modules IC200UMM002/102-BB or later. In this mode, one axis acts as a master that
controls the operation of the other axis.
Chapter 9: Windowing Operation, describes the Windowing feature of MicroMotion
Modules IC200UMM002/102-BB or later. In Windowing, axis position is coordinated to
an input signal that occurs at regular intervals.
Chapter 10: External Inputs, describes the external input signals to a MicroMotion
Module.
Chapter 11: The Common Parameters, is a detailed reference to the basic
parameters that define the operation of a MicroMotion Module.
Chapter 12: Using the MicroMotion Setup Tool, describes the MicroMotion Setup
Tool, and explains how to use it to set up, monitor, and control a MicroMotion Module.
GFK-2471A
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1
Chapter 13: Configuring a MicroMotion Expansion Module, describes the steps to
configure a MicroMotion Module as an expansion module in a VersaMax Micro PLC
system.
Chapter 14: Exchanging Data with a VersaMax Micro PLC CPU, explains how a
VersaMax Micro PLC CPU can set up, monitor, and control a VersaMax MicroMotion
expansion module.
Chapter 15: Exchanging Data with a Host Controller, explains how a host controller
can use MODBUS RTU or TCP/IP communications to set up, monitor, and control a
VersaMax MicroMotion Module.
Chapter 16: Error Codes, defines error codes that are associated with Axis Errors
and System Errors.
Appendix A: Floating Point Data, provides reference information about the format
and use of floating point data.
For More Information
For MicroMotion Modules that are part of a VersaMax Micro PLC system, please refer
to the VersaMax Nano and Micro PLCs Manual (document GFK-1645), which
provides additional information about installation, configuration, programming, and
operation.
1-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
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1
Module Description
VersaMax MicroMotion Modules provide independent motion control in a VersaMax
Micro PLC or host controller system. MicroMotion Modules can be DIN-rail or panelmounted. Modules are available for 24VDC or 110/220VAC power:
▪
IC200UMM002: MicroMotion Module, 24VDC
▪
IC200UMM102: MicroMotion Module, 110/220VAC
Both are standard VersaMax Micro PLC modules, with removable protective doors,
hinged terminal covers and connector covers.
The diagram below shows the accessible components of the module with the
protective doors removed, and the hinged terminal covers and connector covers open.
Removable Terminal Strips
Battery Compartment with
DIP Switches
Option Module Connector
Status LEDS
ＥＸＰ．
ＥＸＰ．
ＭＥＭＯＲＹ
ＰＡＣＫ
Expansion
Connector
Expansion
Connector
DIN Rail Release
Removable Terminal Strips
GFK-2471A
Chapter 1 Introduction
1-3
1
MicroMotion Module Features
VersaMax MicroMotion Modules provide the following features:
▪
Two independent axes
▪
All the inputs and outputs needed for motion control
▪
Ability to store up to 256 profiles in the module
▪
Up to 499 sequence steps
▪
Standalone motion functionality independent of a controller
▪
Profiles can be executed individually or continuously
▪
No motion programming required in PLC
▪
Motion setup tool integrated into Proficy Machine Edition.
▪
Servo or Stepper Control
▪
Speed Range: 1 to 2Mhz pulses per second
▪
Move types: Absolute/Incremental moves, blended and Jog moves
▪
Position rollover: Linear, rotary mode
▪
Positioning units: Pulse, µm, inch, degree, free-form
▪
Acceleration and deceleration: Linear, S-curve
▪
Dwell time: 0 to 32,768 ms (1 ms units)
▪
Acc/Dec rate: 1 to 50,000,000 (pulse/s2, µm/s2, inch/s2, degree/s2, Free form/s2 )
▪
Backlash Compensation: 0 to 65,535 ( pulses, µm, inch, degree, Free-form )
▪
Range: +2,147,483,647 to -2,147,483,648 pulses
▪
Pulse output method: Line driver output
▪
Pulse output type: (1) Pulse and direction (2) CW/CCW
▪
Homing function: Free homing, low-speed homing, high-speed homing (Off Edge
and Marker Stop)
▪
Manual (JOG) operation: Manual input signal or pulse output by command
▪
Feedrate override function: 1 to 100% (Speed scale rate)
▪
Axis Follower Mode (requires MicroMotion Modules IC200UMM002/102-BB or
later).
▪
Windowing (requires MicroMotion Modules IC200UMM002/102-BB or later).
▪
Multiple program sequences in Sequence Table (requires MicroMotion Modules
IC200UMM002/102-BB or later)
▪
▪
1-4
Flash Memory Support of RS232, RS485, and Ethernet Port Option Modules.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
1
Specifications
General Specifications
Item
Specifications
Power supply type
GFK-2471A
AC
DC
Power voltage
100/110/120 V AC (50/60 Hz),
200/220/240 V AC (50/60 Hz)
24VDC
Power voltage
fluctuation range
85 to 264 V AC wide range
19.2 to 30V DC
Allowable momentary
power failure
85 to 100 V AC: for a
A momentary power failure of
momentary power failure of less less than 10ms,
than 10ms, operation continues operation continues
100 to 264 V AC: for a
momentary power failure of less
than 20ms, operation continues.
See Adding an Emergency Stop
Circuit in chapter 2.
Operating ambient
temperature
0 to 55 ºC (Storage ambient temperature –10 to 75 ºC)
Operating ambient
humidity
5 to 95 % RH (no condensation) (Storage ambient humidity 5 to
95 % RH (no condensation)
Vibration resistance
Conforms to JIS C 0911
Noise resistance
- Noise voltage 1500 Vpp Noise pulse 100 ns, 1 micro sec
- Static noise: 3000 V at metal exposed area
Insulation resistance
20 MΩ or more between the AC external terminal and the
protection earth (PE) terminal (based on 500V DC mega)
Dielectric withstand
voltage
1500 VAC for 1 minute between 500 VDC
the AC terminal and the
protection earth (PE) terminal
Grounding
Class D dedicated grounding (grounded by a power supply
module)
Environment used
No corrosive gases and no excessive dirt
Structure
Attached on an open wall
Cooling
Natural air cooling
Anti-electric shock
protection
I type device
Open device
Chapter 1 Introduction
1-5
1
Functional Specifications
Item
Specifications
Number of axes
2
Maximum speed
2M pulses per second
Positioning
system
(1) Absolute + Incremental method
Move type
(2) Incremental method
Position rollover
Linear, rotatary
Positioning instruction units
Pulse, µm, inch, degree, Free-form
Speed instruction range
1 to 2M pulses per second [note 1]
Acceleration and deceleration
Liner Acc/Dec, S-shaped Acc/Dec
Dwell time
0 to 32,768 ms (1 ms units)
Acc/Dec rate
61 to 50,000,000 (pulse/s , µm/s , inch/s ,
2
2
degree/s , free form/s ) [note 2]
Backlash revision
0 to 65,535 (pulses, µm, inch, degree, Freeform )
Range
+2,147,483,647 to – 2,147,483,648 pulses
Pulse output type
(1) Pulse train [ CW / CCW ]
2
2
2
(2) Clock + direction signal [ CK/direction ]
Positioning
data
Pulse output method
Line driver output
Number of moving profiles
256 (non-volatility)
Setting method
Sequence program from PLC and personal
computer
Operation mode
Auto operation, manual operation
Homing function
Free homing, low-speed homing, high-speed
homing (OFF edge), high-speed homing
(marker stop)
Manual (JOG) operation
Pulse output by manual input signal or
command
Auto operation
Pulse output according to profile data
registered with a sequence table.
Feedrate override function
1 to 100% (Speed scale rate, 1% unit)
I/O assignment
8 input words, 8 output words
Note 1: The minimum velocity units depend on the maximum speed set up in the
Common Parameters.
Note 2: The range for acceleration and deceleration depends on the maximum speed
set up in the Common Parameters.
1-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
1
I/O Specifications
Item
Pulse output
Specifications
Pulse signal (CW/CCW)
Line driver
Pulse + Direction signal (PLS/SIGN)
High level voltage at Power ON
Pulse input
Control input
Low level voltage at Power OFF
0.4 V or less
High level voltage at Power ON
2.4 V or more
Low level voltage at Power OFF
0.4 V or less
Input voltage
20.4 to 28.8 V DC
Input impedance
Approx. 5.6 kΩ
Input electric current
GFK-2471A
2.4 V or more
Approx. 4.3 mA (24 V DC)
Operating voltage
Minimum ON voltage
15 V
Minimum OFF voltage
5V
Input lag
ON to OFF
1ms or less
OFF to ON
1ms or less
Polarity
None
Insulate method
Photocoupler
Chapter 1 Introduction
1-7
1
Expansion or Standalone Operation
A VersaMax MicroMotion Module can operate as an expansion module in a VersaMax
Micro PLC system, or it can be used in standalone mode. In standalone mode, the
module is controlled by a host using standard MODBUS commands.
Expansion Operation in a VersaMax Micro PLC
A VersaMax Micro PLC system can include up to two MicroMotion Modules as
expansion modules controlled by the PLC CPU. The VersaMax Micro PLC CPU must
be version 3.81 or later.
Programming and configuration of the Micro PLC itself are done using the Proficy
Machine Edition software.
The VersaMax Micro PLC can set up, control, and monitor MicroMotion expansion
modules in two different ways:
▪
Using the MicroMotion Setup and Monitoring tool that is integrated into the
Machine Edition software. See chapter 12 for information about the Setup Tool.
▪
By reading and writing data using the module’s eight Input Status Data words and
eight Output Control Data words. See chapter 14 for details.
For additional flexibility, motion operations can also be set up, monitored and
controlled by a host controller using the integrated Machine Edition MicroMotion Setup
Tool, or by using MODBUS commands. See chapter 15 for information about the
MODBUS interface to a MicroMotion Module.
Machine Edition
software with integrated
MicroMotion Setup tool
.
VersaMax Micro PLC CPU
Host Computer
1 or 2 MicroMotion Expansion Modules
Standalone Operation of MicroMotion Modules
VersaMax MicroMotion Modules can be used without a VersaMax Micro PLC, in
standalone mode.
1-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
1
In standalone mode, a host controller can be used to set up, monitor, and control up to
32 MicroMotion Modules. The host controller communicates with the MicroMotion
Modules via the Port Option Modules described in chapter 3.
If a MicroMotion Module communicates via an RS232 or RS485 serial communications
module, it acts as a MODBUS Slave, and any device having MODBUS RTU Master
can be used as host controller. If a MicroMotion Module communicates via an Ethernet
Option Module, it acts as Modbus TCP/IP Server, and any device having MODBUS
TCP/IP Client functionality can be used as the host controller.
From the host controller, operation of MicroMotion expansion modules can be done in
two different ways:
▪
Using the MicroMotion Setup and Monitoring tool that is integrated into the
Machine Edition software.
▪
By reading and writing the module’s internal data memories using standard
MODBUS commands. See chapter 15 for information about the MODBUS
interface to a MicroMotion Module.
Host Controller
Up to 32 MicroMotion Modules
GFK-2471A
Chapter 1 Introduction
1-9
1
MicroMotion Setup Tool
The MicroMotion Setup Tool provides an easy-to-use interface for setting up the
motion parameters of a MicroMotion Module. In addition, the host controller or
VersaMax Micro PLC CPU can use the MicroMotion Setup Tool to monitor and
execute motion operations in real time.
The MicroMotion Setup tool is integrated into Proficy Machine Edition version 5.7 SIM
3 or later. Use of the features provided by MicroMotion Modules IC200UMM002/102BB or later firmware requires Machine Edition version 5.9 SIM1 or later.
See chapter 11 for information about using the MicroMotion Setup Tool.
1-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
1
Operating Mode Summary
VersaMax MicroMotion Modules can perform the following motion operations:
▪
Homing mode: establishes a Home Position for an axis, and writes the home
position data to the axis position (see chapter 5 for information about Homing).
The Home Position can be established using:
▪
▪
▪
▪
Free Homing.
Low-speed Homing.
High-Speed Homing (Off Edge)
High-Speed Homing (Marker Pulse):
The Homing operations listed above result in the current axis output position
being set to the Home Position when homing is complete. The position of the
input pulse depends on the count of the feedback pulse. MicroMotion Modules
IC200UMM001/102-BB or later can be set up to change the current position of
both the output pulse and the input pulse to the Home Position.
▪
Manual Mode: controls axis movement using external input signals or
commands from the controller (see chapter 6 for information about Manual
Mode). An axis can perform the following operations in Manual Mode:
▪ Inching.
▪ Jogging
▪ Combined Inching plus Jogging
Manual Mode operations can be controlled either by commands from the
VersaMax Micro PLC or host controller, or by external input signals
▪
Automatic mode: controls axis movement using position (profile) data that has
been set up in advance. Complex positioning operations can be performed by
combining multiple profiles in a Sequence Table (see chapter 7 for information
about Automatic mode). For MicroMotion Modules IC200UMM002/102-BB or
later, a Sequence Table stored in the MicroModule module can include groups of
profiles separated by breakpoints. Using these breakpoints, the application can
execute individual sections of the table once, or repeatedly.
▪
Follower operation: In Follower operation (see chapter 8), in Manual or Auto
Mode, either of the module’s two axes can be set up as a master and the other
as a follower.
▪
Windowing operation: Windowing operation in Manual or Auto Mode
coordinates the position of an axis with a registration input that occurs at regular
intervals. See chapter 9 for information about Windowing.
GFK-2471A
Chapter 1 Introduction
1-11
1
External Inputs to a MicroMotion Module
External inputs to a MicroMotion Module can be used to trigger, control, and stop
motion operations. Each axis has terminals for several external inputs:
Home Position Limit Input
Positioning Complete Input
High-Speed Registration Input
Marker (Z) Input
Forward Overtravel and Reverse Overtravel Inputs
Feedrate Override Input
Jog Forward and Jog Reverse Inputs
Drive OK / Ready Input
Emergency Stop Input
Inputs for
Axis A
ＥＸＰ．
ＥＸＰ．
ＭＥＭＯＲＹ
ＰＡＣＫ
Inputs for
Axis B
The functions of some inputs can alternatively be provided by the PLC CPU or host
controller. For those applications, the external input signals can be disabled in the axis
setup. See chapter 10 for information about the external inputs.
1-12
▪
▪
Marker (Z) Input: used for High-Speed Homing with a Marker Pulse.
▪
Positioning Complete Input: used to connect the position complete output of the
servo drive. This input goes On when the axis has completed its motion. Use of
this input can be disabled in the axis setup.
▪
Home Position Limit Input: used in Homing mode, use of this input is always
enabled.
▪
Forward and Reverse Overtravel Inputs: stop the axis if its position exceeds a
specified limit. Use of these inputs can be disabled in the axis setup.
▪
Feedrate Override Input: can be used to start a Feedrate Override in Manual or
Auto Mode. Use of this input can be disabled in the axis setup.
▪
Jog Forward and Jog Reverse Inputs: can be used to control the axis pulse in
Manual Mode. Jog Foreward can also be used to switch profiles during speedcontrolled Auto Mode operation. Use of these inputs is always enabled.
▪
Drive OK / Ready Input: can be used to monitor the status of an external device
controlled by the axis. Use of this input can be disabled in the axis setup.
▪
Emergency Stop: stops the axis, either immediately or by deceleration. This input
is always enabled.
High-Speed Registration Input: used to move the axis by a specified number of
pulses. Use of this input can be disabled in the module setup.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Installation
Chapter
2
This chapter describes the procedures for installing a VersaMax MicroMotion Module.
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
Preinstallation check
Agency Approvals, Standards, and General Specifications
Installation Guidelines
Installing a MicroMotion Module on a DIN Rail or Panel
Connecting a MicroMotion Module to a Micro PLC
System Wiring Guidelines
I/O Installation and Wiring
Terminal Assignments
DIP Switch Settings
Starting Up the Module
Communications Setup
For information about installing other VersaMax Micro PLC equipment, please refer to
the VersaMax Nano and Micro PLCs Manual, GFK-1645.
Preinstallation Check
Carefully inspect all shipping containers for damage during shipping. If any part of the
system is damaged, notify the delivery service immediately. The damaged shipping
container should be saved as evidence for inspection by the delivery service. As the
consignee, it is your responsibility to register a claim with the delivery service for
damage incurred during shipment. However, GE Fanuc will fully cooperate with you,
should such action be necessary. After unpacking the equipment, record all serial
numbers. Serial numbers are required if you should need to contact Product Service
during the warranty period of the equipment. All shipping containers and all packing
material should be saved should it be necessary to transport or ship any part of the
system.
Keep MicroMotion Modules in their boxes during storage and transport.
GFK-2471A
2-1
2
Agency Approvals, Standards, and General Specifications
The VersaMax Micro PLC products supplied by GE Fanuc are global products
designed and manufactured for use throughout the world. They should be installed and
used in conformance with product-specific guidelines as well as the following agency
approvals, standards and general specifications:
Agency Approvals
Comments
Industrial Control Equipment
[Safety]
UL508,
CSA C22.2 No 142-M1987
Certification by Underwriters Laboratories for
Revision B and later models
Hazardous Locations [Safety]
Class I, Div II, A, B, C, D
UL1604
CSA C22.2 No 142-M1987
Certification by Underwriters Laboratories for
Revision B and later models
European EMC & LVD
Directives
CE Mark
All models
Environmental
Conditions
Vibration
IEC68-2-6, JISC0911
1G @57-500Hz, 0.15mm p-p @10-57Hz
Shock
IEC68-2-27, JISC0912
15G, 11ms
Operating Temperature
0deg C to 55deg C [ambient]
Storage Temperature
–10deg C to +75deg C
Humidity
5% to 95%, non-condensing
IEC529
Enclosure per IP54; protection from dust &
splashing water
UL508, UL840,
IEC664
1.5KV for modules rated from 51V to 250V
Enclosure Protection
Isolation: Dielectric Withstand
Immunity and Emissions, Relevant Standards, and Level Passed
Description
Standards
Specifications
Electrostatic Discharge
RF Susceptibility
EN 61000-4-2
EN 61000-4-3
RF Susceptibility from
Digital Radio Telephones
Fast Transient
Voltage Surge
ENV 50204
EN 61000-4-4
EN 61000-4-5
Conducted RF
EN 61000-4-6
Voltage Dip
Voltage Interrupt
Voltage Variation
Radiated Emissions
EN 61000-4-11
± 4.0 kV (Contact); ± 8.0 kV (Air)
10 V/m (unmodulated), 80-1000 MHz, 80% AM,
1 kHz sine wave
10 V/m (unmodulated), 900±5Mhz, 100% AM (200 Hz
square wave, 50% duty cycle)
± 2.2 kV (PS); ± 1.1 kV (I/O)
± 2.2 kV, common mode (PS)
± 1.1 kV, differential (PS)
10 Vrms, 0.15-80 MHz, 80% AM, 1 kHz sine wave (PS,
I/O)
30% Nom., 10 ms
>95% Nom., 10ms
20% Nom. 10 sec.
30 dBµV/m, 30 – 230 MHz (measured @ 30m)
37 dBµV/m, 230 – 1000 MHz (measured @ 30m)
Conducted Emissions
EN 55011*
EN 55011*
79/66 dBµV, 0.15 – 0.5 MHz
73/60 dBµV, 0.5 – 30 MHz
* EN 55011 limits are equivalent to limits specified in EN 55022, CISPR 11, CISPR 22, and 47 CFR 15.
2-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
Installation Guidelines
This equipment is intended for use in typical industrial environments that utilize antistatic materials such as concrete or wood flooring. If the equipment is used in an
environment that contains static material such as carpets, personnel should discharge
themselves by touching a safely-grounded surface before accessing the equipment.
CE Mark Installation Requirement
For compliance to the Low Voltage Directive, VersaMax MicroMotion Modules are
considered ‘open equipment’ (i.e. live electrical parts may be accessible to users) and
must be installed in an enclosure. IEC 1131-2:1991 (sect. 4.2, item 2) states: “Open
equipment is not required to meet IP2x requirement…. Opening of the enclosure shall
only be possible by means of a key or tool.” The module should be installed in a
location that meets the specifications listed on the previous page.
UL Requirements for Class I Div 2 Installations
GFK-2471A
▪
Warning - explosion hazard - substitution of components may impair suitability
for class I, division 2.
▪
Warning - explosion hazard – do not replace modules unless power has been
switched off or the area is known to be nonhazardous.
▪
Warning - explosion hazard - do not connect or disconnect equipment unless
power has been switched off or the area is known to be nonhazardous.
▪
Warning - explosion hazard - do not connect or disconnect cable unless
power has been switched off or the area is known to be nonhazardous.
Chapter 2 Installation
2-3
2
Additional Environmental Guidelines
▪
▪
▪
▪
▪
▪
The temperature must not change so rapidly that condensation could form on
or inside the unit.
There should be no combustible, corrosive or flammable gases.
The environment should not have excessive dust, salty air, or conductive
materials (iron powder, etc.) that could cause internal shorts.
The module should not be installed where it will be exposed to direct sunlight.
The module should not be exposed to water, oil or chemicals.
Provide adequate ventilation space. Recommended minimum space
allowances are approximately: (50 mm (1.97 in. or more) at top and bottom,
10mm (0.39 in. or more to the left and right).
50 mm (1.97 in.) or more
10 mm (0.39 in.) or more
50 mm (1.97 in.) or more
50 mm (1.97 in.) or more
50 mm (1.97 in.) or more
Wiring duct
▪
▪
▪
▪
▪
2-4
The module should not be installed above equipment that generates a large
amount of heat.
If the ambient temperature exceeds 55°C, provide a ventilation fan or air
conditioner.
The equipment should not be installed within 300mm (11.81 in.) of any high
voltage (more than 1000V) or high current (more than 1A) line.
For ease of maintenance and safety, locate the module as far away from high
voltage equipment and power generation equipment as possible.
Take appropriate measures when installing systems in locations:
▪ subject to static electricity or other forms of noise.
▪ subject to strong electromagnetic fields.
▪ close to power supplies.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
Installing a MicroMotion Module on a DIN Rail or Panel
A VersaMax MicroMotion Module can be mounted on a 35mm DIN rail, or mounted on
a metal panel using screws. The equipment must be mounted on a vertical surface. Do
not mount it on a horizontal surface.
Proper Mounting
Improper Mounting
Mounting Dimensions
80mm
(3.12in.)
140mm (5.46in.)
GFK-2471A
Chapter 2 Installation
2-5
2
Mounting a Module on a DIN Rail
The DIN rail must be electrically grounded to provide EMC protection as described on
the next page. DIN rails compliant with DIN EN50032 are preferred. For vibration
resistance, the DIN rail should be installed on a panel using screws spaced
approximately 5.24cm (6 inches) apart.
Modules mount on a 35 mm DIN rail as shown below. Using a small flat screwdriver or
similar tool, pull out the retaining clip on the bottom of the unit. Press the unit back and
release the retaining clip. Be sure the clip is holding the unit on the DIN rail securely.
2
1
DIN
Rail
pull clip
release
clip
Secure the module by installing DIN rail brackets from both sides. (The module may
shift on the DIN rail if it is not secured with mounting brackets.)
2-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
Removing a Module from a DIN Rail
Pull down the retaining clips on the bottom of the module, then pull it away from the
DIN rail.
2
1
Panel-Mounting
For greatest resistance to mechanical vibration and shock, a MicroMotion Module
should be installed on a metal panel.
Following the dimensions shown previously in this chapter or using the module itself as
a template, mark the location of the module’s panel-mount holes on the panel. Drill the
hole in the panel. Install the module using 65x70 M4 (#8-32) screws at least 20mm
(0.79 in.) long in the panel-mount holes.
1.1 to 1.4Nm (10 to 12 in/lbs) of torque should be applied to M4 (#8-32) steel screws
threaded into material containing internal threads and having a minimum thickness of
2.4mm (0.093in).
Grounding the Metal Panel or DIN Rail
To prevent the risk of electric shock, the metal panel on which the module is installed
must be properly grounded to protective earth.
Connect the ground wire to the metal panel using a star washer. Where connections
are made to a painted panel, the paint should be removed so clean, bare metal is
exposed.
Connect the metal plate, duct, pipe, door and side board etc. to protective earth.
GFK-2471A
Chapter 2 Installation
2-7
2
Connecting a MicroMotion Module to a Micro PLC
Up to two MicroMotion Modules can be used as expansion units connected in series to
a Micro PLC.
Caution
Power down the Micro PLC before connecting any expansion unit.
Connecting an expansion unit with the Micro PLC powered up will damage the
unit.
NOTE
The Micro PLC and expansion unit(s) should be wired to a common power
source and powered up together. If an attached expansion unit is left
unpowered, the Micro PLC may not power up properly.
The Expansion Cable
Ribbon cables are available in 0.1-meter (IC200CBL501), 0.5 meter (IC200CBL505),
and 1 meter (IC200CBL510) lengths. The maximum total overall length for all units in
the VersaMax Micro PLC system is 2 meters. Connect expansion units as shown
below. The ribbon cable has keyed connectors to prevent incorrect installation.
Powering up the system with the cable improperly installed can damage the
MicroMotion Module. Do not substitute a different cable.
Micro PLC
Expansion
Unit
Expansion
Cable
Expansion
Connector (behind door)
The Micro PLC and MicroMotion Module(s) must be connected in the same orientation.
Connecting any expansion unit “upside down” will damage the DC input circuit when
the system is powered up.
After installing the ribbon cable on a module, close the hinged door on the module.
2-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
DIP Switch Settings
The DIP switches located behind the removable door on the front of a MicroMotion
Module are factory-set to OFF (down position) as shown below.
1
2
3
4
Use of the DIP switches is described below.
Switch
1
2
3
Description
Communication Speed
ON
Set to use communications parameters that have been supplied
from the Setup Tool, VersaMax PLC CPU, or host controller.
OFF
Use the default communications parameters: 57.6 kbps / 8 bits –
EVEN parity – 1 Stop bit.
Standalone or Expansion Module Operation
ON
Standalone mode (not as expansion unit to Micro PLC).
OFF
Controlled by a Micro PLC. (Be sure this switch is Off before
connecting to a Micro PLC.)
Memory Pack Module Operation
DIP switch 3 should always be Off if a Memory Pack is not
installed. If DIP switch 3 is in the On position when a Memory
Pack is not installed, the data in backup memory could
become corrupted.
ON
Allows parameters from a Memory Pack to be written into the
backup memory of a MicroMotion Module.
OFF
When the power supply is on, the MicroMotion Module starts
without reading parameters from the Memory Pack module.
If parameters already stored to the MicroMotion Module should be
maintained, this switch should be turned off while installing
Memory Pack module on the MicroMotion Module.
If this switch is off, parameters will not be read from the Memory
Pack module into the backup memory of the MicroMotion Module.
4
GFK-2471A
Firmware Update
ON
Permit firmware update with Winloader. Update instructions are
provided with the update kit.
OFF
Normal operating position.
Chapter 2 Installation
2-9
2
Communications Setup
All MicroMotion Modules that will communicate with a host controller must be equipped
with one of the port option modules described in chapter 3. This applies to MicroMotion
expansion modules in a VersaMax Micro PLC system, and to MicroMotion Modules
that will operate in standalone mode.
If there are two MicroMotion Expansion Modules in a VersaMax Micro PLC system and
both must communicate with a host controller, both must be equipped with similar port
option modules. Please see chapter 3 for port connection details.
If there are multiple MicroMotion Expansion Modules operating in standalone mode, all
of the modules must be equipped with similar port option modules.
All MicroMotion Modules that will communicate with a host controller must be set up
with the same serial communications parameters, except for their Device ID. Each
module’s Device ID can be set using the Setup Tool, or commands from the PLC CPU
or host controller.
MicroMotion Modules that will NOT use the default communications parameters (57.6
kbps / 8 bits – EVEN parity – 1 Stop bit) must have DIP switch 1 set to On to use
communications parameters supplied by the Setup Tool, VersaMax Micro PLC CPU, or
host controller.
DIP Switches
located behind
removable door
Port Option
Module
All MicroMotion Modules that will operate in standalone mode must have DIP switch 2
set to On for standalone operation.
2-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
System Wiring Guidelines
In addition to the following wiring suggestions, we strongly urge that you follow all
wiring and safety codes that apply to your area or to your type of equipment. Failure to
do so could lead to personal injury or death, property damage or destruction, or both.
Four types of wiring may be encountered in a typical factory installation:
▪
Power wiring – the plant power distribution, and high power loads such as
high horsepower motors. These circuits may be rated from tens to thousands
of KVA at 220 VAC or higher.
▪
Control wiring – usually either low voltage DC or 120 VAC of limited energy
rating. Examples are wiring to start/stop switches, contactor coils, and
machine limit switches. This is generally the interface level of discrete I/O.
▪
Analog wiring – transducer outputs and analog control voltages. This is the
interface level to I/O analog blocks.
▪
Communications and signal wiring – the communications network that ties
everything together, including computer LANs, MAP, and field busses.
These four types of wiring should be separated as much as possible to reduce the
hazards from insulation failure, miss-wiring, and interaction (noise) between signals. A
typical control system may require some mixing of the latter three types of wiring,
particularly in cramped areas inside motor control centers and on control panels.
Wiring which is external to equipment and in cable trays should be separated following
National Electrical Code practices.
GFK-2471A
Chapter 2 Installation
2-11
2
Safety Measures
Appropriate emergency-stop circuitry, interlock circuitry and similar safety measures
should be added to the system in accordance with accepted practices.
Safety measures should be included in the design of the overall system to ensure
safety in the event of incorrect, missing or abnormal signals caused by broken signal
lines, momentary power interruptions or other causes.
Installing Additional Suppression
External MOV suppression can be installed at the power line input of a system
enclosure (see below). The axial-leaded ZA series of MOVs from Harris is often used.
The MOV should be able to handle most line transients. Measurement of actual
transients may be required in extreme cases to decide what MOV is best.
Ideally, MOVs should be used at each cabinet in the system for maximum protection.
The following illustration shows suppression on both power lines and a
communications bus entering an enclosure.
Enclosure
Power
to
Modules
Short Length of
Communications
Bus Cable
Periodic Inspection and Replacement of MOVs
MOVs do a good job of absorbing transients on communications, control, and power
lines, provided the total energy of those transients does not exceed the rating of the
device. However, if the energy of the transient exceeds the rating of the device, the
MOV may be either damaged or destroyed. This failure may not be visually or
electrically evident. MOVs should be regularly inspected for signs of damage to assure
continued protection against transients. For some applications, periodic replacement of
critical MOVs is recommended, even if they do not show signs of damage.
2-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
I/O Installation and Wiring
Follow the procedures below when routing and connecting field wiring.
GFK-2471A
▪
▪
▪
▪
Turn off power to the module before connecting field wiring.
▪
Field wiring should not be routed close to any device that could be a potential
source of electrical interference.
▪
Route the signal and data lines as close as possible to grounded surfaces
such as cabinet elements, metal bars and cabinets panels.
▪
If severe noise problems are present, additional power supply filtering or an
isolation transformer may be required.
▪
Ensure that proper grounding procedures are followed to minimize potential
safety hazards to personnel.
▪
▪
▪
Label all wires to and from field devices.
▪
Always use the power supply voltage listed in the module specifications.
Using other voltages may damage the equipment.
▪
Use shielded cable for analog inputs and outputs, and connect shields to a
functional earth ground.
▪
Use twisted-pair cable or cable in metal duct for pulse input/output
connections when using a MicroMotion Module with pulse input/output
frequencies greater than 500kpps in a noisy environment.
All low-level signal wires should be run separately from other field wiring.
All channels must be fed from the same phase for AC power lines.
Install AC power cables and data lines in separate cable trays or bunches
from DC field wiring.
Do not attempt to disassemble, repair or modify any part of the module.
Do not pull on cables or bend cables beyond their natural limit. The lines may
break.
Chapter 2 Installation
2-13
2
6
6
Wiring Connections
Use copper conductors rated for 75 °C (167 °F) for all wiring.
▪ When using wiring terminals, be sure to tighten screws adequately, so the wiring
terminals will not become loose. The suggested torque for terminal connections is
0.6Nm.
▪ When using a crimp-type connector, use one with an outer diameter of 6mm
(0.24in.) or less.
▪ Do not use more than two crimp-type connectors on the same module terminal.
Alternatively, each module screw can accept:
▪ One wire, size AWG14 to AWG22 (2.1 to 0.36 mm2) or:
▪ Two wires, size AWG16 to AWG22 (1.3 to 0.36 mm2)
Warning
You should calculate the maximum current for each wire and observe
proper wiring practices. Failure to do so could cause injury to personnel
or damage to equipment.
▪ Each terminal can accept solid or stranded wires, but the wires into any given
terminal must be of the same type and size.
Caution
When connecting stranded conductors, ensure that there are no
projecting strands of wire. These could cause a short circuit, thereby
damaging equipment or causing it to malfunction.
2-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
Removable Wiring Terminals
The terminal block assemblies of a MicroMotion Module can be removed to perform
wiring.
Caution
Do not insert or remove a terminal assembly with power applied to the module
OR TO FIELD DEVICES. Injury to personnel and damage to the equipment may
result. Potentially dangerous voltages from field devices may be present on the
screw terminals even though power to the module is turned off. Care must be
taken any time you handle the removable terminal assembly or any wires
connected to it
A new MicroMotion Module is shipped with its terminal block assemblies firmly
installed. To remove a terminal assembly, use a small Phillips or flat screwdriver to
alternately loosen the two captive retaining screws. Hold the terminal assembly; when
the screws have been backed out of the holes, the terminal assembly is completely
detached from the module.
Loosen alternately
When re-installing terminal assemblies, be sure to place each one in the correct
location to avoid miss-wiring the module. The terminal assemblies are not keyed or
labeled.
Terminal Screws
Should any of the terminal screws be lost or damaged, they can be replaced with M3 x
0.6mm pitch screws of the type shown below.
M3
GFK-2471A
Chapter 2 Installation
2-15
2
Power Wiring
2
2
▪
For power supply wiring, use a cable of 2mm (0.0031in ) or more to prevent a
voltage drop from occurring.
▪
The function ground terminal (PE terminal) should use a cable of 2mm
2
(0.0031in ) or more and Class D grounding (100Ω or less). The length of ground
cable should not exceed 20m (65.62ft.).
2
Warning
The MicroMotion Module must be grounded to minimize
electrical shock hazard. Failure to do so could result in
injury to personnel.
▪
Avoid joint grounding with equipment that can generate noise.
▪
If the MicroMotion Module is used as a VersaMax Micro PLC expansion
module,it must use the same power supply system as the PLC CPU.
▪
For module IC200UMM102, connect a noise filter to the power cable.
Power supply for
sensor
100V AC ～
240V AC
ＥＸＰ．
ＥＸＰ．
ＭＥＭＯＲＹ
ＰＡＣＫ
Fuses
Noise filter
Isolation
transformer with
shield
2-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
Separation of the Power Supply
The power for the MicroMotion Module, the I/O signals, and the other equipment
should be separated as much as possible.
When these power supplies are supplied from one main power source, separate the
wiring with a transformer or similar device, so that each power supply is a separate
system. For example:
Main power supply
100 VAC to
240 VAC
Noise filter
Power for the module
Transformer
Noise filter
Power for I/O signals
Transformer
Power for general equipment
Caution
Be sure to separate the signal wiring of the MicroMotion Module from the power line
and the wiring of AC I/O modules as shown below.
Power line
AC I/O wiring
30 cm
(11.81 in.)
or more
GFK-2471A
Chapter 2 Installation
MicroMotion Module,
DC I/O wiring
2-17
2
Terminal Assignments
NC
24V
NC
0V
POW
POW
FG
2424+
N
L
NC
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
IC200UMM002
IC200UMM102
I/O Signal Wiring
Servo driver
COIN
CW+
CWCCW+
CCW-
HL
FO
RO
CHA+
CHACHB+
CHBCHZ+
CHZHSR+
HSR-
FE
JF
JR
DR
ES
24V
0V
POW
CM
POW
FG
2-18
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
I/O Signals
Axis A
Axis B
CW1+ (PLSP)
CW2+ (PLSP)
CW1- (PLSN)
CW2- (PLSN)
CCW1+ (SIGP)
CCW2+ (SIGP)
CCW1- (SIGN)
CCW2- (SIGN)
CH1A+
CH2A+
CH1A-
CH2A-
CH1B+
CH2B+
CH1B-
CH2B-
CH1Z+
CH2Z+
CH1Z-
CH2Z-
Type
Details
Output
Line driver
Input
Counter phase A
Counter phase B
Counter phase Z
Registered distance shift trigger input.
5V differential signal is required.
HSR1+
HSR2+
HSR1-
HSR2-
HL1
HL2
Home position limit input
COIN1
COIN2
Positioning completion input
FO1
FO2
CCW direction limit input
RO1
RO2
CW direction limit input
JF1
JF2
CCW direction manual operation input
JR1
JR2
CW direction manual operation input
FE1
FE2
Speed change input
DR1
DR2
Operation OK/Ready input
ES1
ES2
Emergency stop input
COM1
COM2
Common
Common
MA1A
MA2A
Input
Not used, reserved
MA1B
MA2B
GFK-2471A
Chapter 2 Installation
Not used, reserved
2-19
2
Output Wiring to a Servo Amplifier
Example wiring between the module and a servo amplifier is shown below.
Servo amplifier (Note 1)
+
+
-
PULS-P
CW+
PULS-NP
CW-
SIGN-P
CCW+
SIGN-NP
CCW-
FG
Internal circuit
MicroMotion
Module
(Note 3)
(Note 2)
Note 1: In general, shielded cables should be grounded only on the receiving terminal
side (input side). However, it may be better to leave both sides open, or to ground on
the sending terminal side or on both sides, depending on the noise environment and
the ground conditions.
Note 2: If the output wiring cable is long, the output pulse wave is weakened. As a
result, the servo amplifier may not receive signals properly when the output frequency
is high. Keep the cable length as short as possible. Depending on the cable type and
the load on the servo amplifier, cables of 5m (16.40ft.) or less are recommended.
Note 3: Signal names depend on the type of the servo amplifier being used. Check the
servo amplifier specifications before connecting it to the MicroMotion Module.
2-20
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
Adding an Emergency Stop Circuit
The DC-powered MicroMotion Module, IC200UMM002, requires at least 20ms to react
when power is removed. The AC-powered MicroMotion Module, IC200UMM102,
requires at least 1.1 second to react when power is removed. If power is removed for
shorter periods of time, motion continues as though no power-down condition had
occurred.
If the application requires motion to stop immediately upon removal of power to the
MicroMotion Module, connect a contactor/relay (EStop) to the power supply input of
the MicroMotion Module. Use the normally-open contact of this contactor/relay to drive
the Emergency Stop Input of the MicroMotion Module. When power is applied to this
contactor, the Emergency Stop input of the MicroMotion Module is high, so Emergency
stop is not active. When power is removed, the relay is deactivated and the module’s
Emergency Stop input goes Off. The length of time required for motion to then stop
would depend on the deactivation time of the contactor/relay and on the module’s
setup parameter for Emergency Stop (Fast or Decelerated). In this type of installation,
power tp the servo amplifier must also be removed when the power to the motion
controller is removed.
NOTE: When the MicroMotion Module is used in a VersaMax PLC System, the PLC
CPU and MicroMotion Module must share the same power source.
ESTOP
from field
MicroMotion Module
ES2
Pulse Output
DR
Servo Amplifier
Pulse Input
Servo Ready (SRDY)
ES1
Emergency Stop (ES)
Home Position
24V Pow er
Q1
Q2
Pulse Clear (CCLR)
Servo On (SON)
ESTOP
GFK-2471A
Chapter 2 Installation
2-21
2
Starting Up the Module
Before applying power to the MicroMotion Module:
▪
Be sure all mounting screws, terminal screws, cables and other items are
properly tightened and secured.
Warning
Be sure the protective covers are installed over terminals when power
is applied to the unit. The covers protect against accidental shock
hazard that could cause severe or fatal injury.
▪
▪
▪
Double-check all wiring. Faulty wiring may result in damage the module.
Do not turn on the power supply to a broken module.
If the MicroMotion Module is part of a VersaMax Micro PLC system, be sure
that all expansion units connected to the Micro PLC are wired to the same
power source and that the PLC and expansion units will power up together. If
an attached expansion unit is left unpowered, the Micro PLC may not power
up properly.
Normal Powerup Sequence
Apply the required power to the power inputs and observe the module LEDs. See the
LED descriptions that follow.
LEDs on the MicroMotion Module
ＥＸＰ．
ＥＸＰ．
DR
ES
ORE
CME
JF/JR
MAN
STB
RUN
LEDs on the MicroMotion Module display the status of the module and its inputs and
outputs.
POW
Axis A
Status
Axis B
ＭＥＭＯＲＹ
ＰＡＣＫ
ST1
ST2
S
2-22
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
2
LED
Color
Description
POW
Green ON indicates the presence of power supply to the module.
Status
OK
Green ON when there is no error in the module.
ST1
Green ON when there is no software error in the MicroMotion Module. This
LED turns off if an error occurs in the system, axis A, or axis B.
ST2
Green ON while various settings are being stored in backup memory. If
power is turned off while this LED is ON, the parameters may not be
stored correctly.
RUN
Green ON when the axis (A or B) is operating, and outputting a pulse.
The RUN LED is OFF during a Dwell in Auto mode.
STB
Green ON when the axis (A or B) is standing by.
MAN
Green ON when the axis (A or B) is being operated manually (external input
mode). Turns OFF if the manual operation is cancelled.
JF /
JR
Green ON when either Jog Forward or Jog Reverse is ON on the axis (A or
B). Turns OFF when both Jog Forward and Jog Reverse are OFF.
CME
Red
ON if a command error occurs on the axis (A or B). Turns OFF if the
command is performed without error or if error clear operation is
performed.
ORE
Red
Indicates the status of overrun inputs Forward Overtravel and
Reverse Overtravel on the axis (A or B). ON when either Forward
Overtravel or Reverse Overtravel is OFF. OFF when Forward
Overtravel and Reverse Overtravel are both ON. The overrun status
may be retained in the module even if the ORE LED is off.
ES
Red
Indicates whether there is an emergency stop (ES) on the axis (A or
B). ON when the Emergency Stop input is OFF. OFF when the
Emergency Stop input is ON. The error must be cleared to restart
operation of the MicroMotion Module.
DR
Red
Indicates the status of Drive OK/Ready input (COIN) on the axis (A or
B). ON when the Drive OK/Ready input is OFF. This LED is turned
OFF if the Drive OK/Ready input turns ON. The error must be cleared
to restart the MicroMotion Module.
S
Green Indicates Module is operating in Standalone mode.
GFK-2471A
Chapter 2 Installation
2-23
2
2-24
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Port Option Modules
3
This chapter describes use of VersaMax Micro PLC port option modules with a
MicroMotion Module:
▪
Types of Port Option Modules
▪
RS232 Port Option Module
▪
RS422/485 Port Option Module
▪
USB/RS232 Port Option Module
▪
Ethernet Option Module
▪
Ethernet Option Module Status LEDs
▪
Ethernet Option Module Specifications
▪
Ethernet Communications Drivers
▪
Setting the IP Address
▪
Port Option Module Installation
▪
Communications Setup
GFK-2471A
▪
DIP Switch Setting for Communications
▪
Communications Parameters: Setup Tool
▪
Communications Parameters: VersaMax Micro PLC CPU
▪
Communications Parameters: Host Controller
3-1
3
Types of Port Option Modules
A MicroMotion Module does not have a built-in port. One of the Port Option Modules
described in this chapter must be installed for communication with a host controller.
The following Port Option modules can be used with VersaMax MicroMotion Modules:
▪
RS232 Port Option Module IC200USB001
▪
RS485 Port Option Module IC200USB002
▪
Ethernet Option Module IC200UEM001
▪
USB Option Module IC200UUB001
One Port Option module (USB001, USB002, UUB001, or UEM001) and/or a Memory
Pack module (UMB001) can be installed on the front of a MicroMotion Module.
Port Option Modules for MODBUS Communications
A host controller that will operate as a MODBUS Master must be connected to the
MicroMotion module by using an RS232 or RS485 serial communications module. The
MicroMotion module will act as a MODBUS Slave.
Host
MODBUS RTU
or
MODBUS TCP/IP
MicroMotion Module
Commands
Operation data
A host controller that will operate as a MODBUS TCP/IP Client must be connected to
the MicroMotion module by an Ethernet Option Module. The MicroMotion module will
act as a MODBUS TCP/IP Server.
3-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
3
RS232 Port Option Module
The RS232 Port Option Module, IC200USB001, provides one connector for serial
communications. When installed, this is the MicroMotion Module’s only
communications port.
Analog
Input
Terminals
Connector for
Memory Pack
Module
Port
Connector
The connector on the left side of the RS232 Port Option Module is for a Memory Pack
(see chapter 4), which can be used to transfer programs and data.
The built-in connector for two analog inputs is not used in MicroMotion Module
applications.
For the RS232 Port Option modules, pin assignments for the port connector are:
8
7
6
5
4
3
2
1
SG
VCC
10V
NC
SD
RD
NC
RS
Signal Ground
5VDC Output
10VDC Output
Sent Data
Received Data
Request to Send
An external device can obtain power from the 5VDC output pin if it requires 200mA or
less at 5VDC.
Protocol selection must be made in the configuration software. After selecting a
protocol, the default communications parameters can optionally be changed as
described in this chapter.
GFK-2471A
Chapter 3 Port Option Modules
3-3
3
RS422/485 Port Option Module
The RS422/485 Port Option Module, IC200USB002, provides one connector for serial
communications. When installed, this is the MicroMotion Module’s only
communications port.
Analog
Input
Terminals
Connector for
Memory Pack
Module
Port
Connector
The connector on the left side of the RS422/485 Port Option Module is for a Memory
Pack (see chapter 4), which can be used to transfer programs and data.
The built-in connector for two analog inputs is not used in MicroMotion Module
applications.
For the RS422/485 module, pin assignments for the port connector are:
8
7
6
5
4
3
2
1
SG
VCC
NC
TX(+)
TX(-)
RX(-)
RX(+)
RT
Signal Ground
5VDC Output
Not used
Send Data +
Sent Data Received Data Receive Data +
Terminal Resistor
An external device can obtain power from the 5VDC output pin if it requires 200mA or
less at 5VDC.
Protocol selection must be made in the configuration software. After selecting a
protocol, the default communications parameters can optionally be changed as
described in this chapter.
3-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
3
USB / RS232 Conversion Option Module
The USB/RS232 Port Option Module, IC200UUB001, provides one USB connector for
serial communications. When installed, this is the MicroMotion Module’s only
communications port.
Connector for
Memory Pack
Module
USB Port
Connector
The connector on the left side of the USB/RS232 Port Option Module is for a Memory
Pack (see chapter 4), which can be used to transfer programs and data.
Characteristics of the USB port are:
GFK-2471A
Connector
Straight B type
USB version
2.0
Power
Self power
Baud Rates
Supported
9600bps through 115.2Kbps are
supported by motion module. Do not
configure other baud rates for the
MicroMotion Module when using the
USB Conversion Option Module.
Chapter 3 Port Option Modules
3-5
3
Ethernet Option Module
The Ethernet Option Module, IC200UEM001, can be used to provide an Ethernet Port.
When installed, this is the MicroMotion Module’s only communications port.
Connector for
Memory Pack
Module
Port
Connector
The connector on the left side of the Ethernet Option Module is for a Memory Pack
(see chapter 4), which can be used to transfer programs and data.
Although the Ethernet Option Module provides additional protocols when installed on a
VersaMax Micro PLC CPU, only the MODBUS TCP/IP Server capability is available
when it is installed on a MicroMotion Module.
Ethernet Option Module Status LEDs
Link LED (Amber)
Solid Amber: Connection is established and network
is connected
Activity (Green)
Flashing Green when there is any activity on the
network
Status (Red)
OFF: No errors
Red ON: Duplicate IP address present or network
controller error
Red BLINK (2x/sec): No DHCP response or Setup
menu active
Ethernet Option Module Specifications
3-6
Processor Speed
DSTni-EX CPU, 48MHz
Memory
256 kByte RAM, 512 kByte FLASH
Connection Type
RJ 45 10Base-T/100Base-TX Ethernet
Entity Type
Server
Bus Speed
10/100Mbaud
Mode
Full Duplex
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
3
Ethernet Communications Drivers
Communications drivers for the Ethernet Option Module must be downloaded from
GEFanuc.com. Refer to the datasheet for the Ethernet Option Module, GFK-2436, for
details.
Protocol selection must be made in the configuration software. After selecting a
protocol, the communications parameters can also be configured. It is important to be
sure that the parameters set (using the Setup Tool, or command from the VersaMax
Micro PLC CPU or host controller) for the MicroMotion Module match the parameters
set (using Telnet) for the Ethernet Option Module.
Setting the IP Address
Detailed instructions for setting the module’s IP address are given in the Ethernet
Option Module datasheet (document GFK-2436).
When setting the IP address:
▪
If connecting via Ethernet point- to-point, a crossover cable is required.
▪
The IP address setting must be saved to the Flash on the Ethernet board or it will
be lost during power cycle.
GFK-2471A
Chapter 3 Port Option Modules
3-7
3
Port Option Module Installation
Power to the MicroMotion Module MUST BE TURNED OFF when installing or
removing Option Modules.
1. Access the option connector on the front of the MicroMotion Module.
2. Orient the connector on the Port Option Module with the connector in the
MicroMotion Module. Be careful to avoid contact with the exposed components in
the module.
Connector for
Option Module
Screws for
Option Module
3. Press the Port Option Module downward until it clicks into place.
4. Install the screws provided with the Port Option Module into the corners as shown
above.
Connector for
Memory Pack
Module
3-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
Port
Connector
GFK-2471A
3
Communications Setup
This section summarizes communications setup using the MicroMotion Module DIP
Switch, the Setup Tool, a VersaMax Micro PLC CPU, or a host controller.
DIP Switch Setting for Communications
When the DIP switch 1 on a MicroMotion module is Off (the default), the module’s
communication parameters are set to their defaults:
▪
57.6 kbps / 8 bits
▪
EVEN parity
▪
1 Stop bit.
▪
Device Number 1
Switch 1
Off for Default
Communications
Parameters
1
2
3
4
If DIP switch 1 is set to On, the communications parameters can be set up using the
MicroMotion setup tool, or by commands from a VersaMax Micro PLC CPU or host
controller, as described on the following pages.
Switch 1
On to Change
Communications
Parameters
GFK-2471A
Chapter 3 Port Option Modules
1
2
3
4
3-9
3
Communications Parameters: Setup Tool
To set up or check the communications parameters using the Setup
Tool:
▪
▪
Connect the Setup Tool to the MicroMotion Module.
Select PLC Comm Parameters from the Main Window.
The Communication Setting window displays the type of port option module that is
installed, and the communications settings. If the communications settings have been
changed from the defaults, this screen shows the actual transmission speed and
Device Number.
Changing the Default Communications Parameters
To change the default communications parameters, connect the Setup Tool to the
MicroMotion Module using the default parameters.
After changing the parameters in the Setup Tool window shown above, the module will
continue using the default parameters temporarily.
To switch to the new parameters, disconnect power to the module.
Set DIP switch 1 on the front of the module (see previous page) to the On (up)
position.
Apply power to the module again to use the new parameters.
3-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
3
Communications Parameters: VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU can use the commands described below to set or read
the communications parameters of a MicroMotion Module. See chapter 14 for details.
Set Communications Parameters: Command 9F
Command 9F is used to set up serial communications parameters. Output Control
Data format for command 9F is shown below.
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
6
BNK RUN
Word 2
5
4
3
2
1
0
Command Number: 9F
Number of words (2)
Word 3
Communications Speed
Transmission Format
Word 4
Device Number
Word 5
Not used
Word 6
(Words 5 to 8 hold their previous values)
Word 7
Word 8
Word 3 of the command contains the communications speed and transmission format.
Word 4 contains the Device Number.
Communications Speed
Transmission Format
0 = 115.2 kbps
1 = 57.6 kbps
2 = 19.2 kbps
3 = 9600 bps
4 = 38.4 kbps*
All others = 19.2 kbps
0 = 8/E/1
1 = 8/O/1
2 = 8/N/1
3 = 8/N/2
* MicroMotion Modules IC200UMM002/102-BB or later.
Read Communications Parameters: Command A5
Command A5 is used to read the communications status of an installed serial
communications option module, When the MicroMotion Module receives command A5,
in the Output Control Data, it returns the communications setup information in words 5
to 7 of its Input Status Data.
Input Status Data
Word 1
Word 2
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Word 6
GFK-2471A
HS
Communication Interface 0 = RS422/485, 1 = RS-232C/usb
Upper byte: 0=115.2k, 1=57.6k, 2=19.2k, 3=9600, 4=38.4k
Lower byte: 0=8/E/1, 1=8/O/1, 2=8/N/1, 3=8/N/2
Word 7
Device Number
Word 8
Not used (holds previous value)
Chapter 3 Port Option Modules
3-11
3
Communications Parameters: Host Controller
A host controller can use the commands described below to set or read the
communications parameters of a MicroMotion Module. See chapter 15 for details.
Coils to Set for Writing to a Memory Pack
141
142
Request to Change Transmission Speed (Holding Register 4)
Request to set Device Number (Holding Register 5)
Holding Registers
4
5
Write communication speed and transmission format
Upper byte: 0 = 115.2k, 1 = 57.6k, 2 = 19.2k, 3 = 9600, 4 = 38.4k
Lower byte: 0 = 8/E/1, 1 = 8/O/1, 2 = 8/N/1, 3 = 8/N/2
Write Device Number
Input Registers
3
4
5
3-12
Read communication interface type: 0 = RS-422/485, 1= RS-232c/usb
Read current communication speed and transmission format
Upper byte: 0 = 115.2k, 1 = 57.6k, 2 = 19.2k, 3 = 9600, 4 = 38.4k
Lower byte: 0 = 8/E/1, 1 = 8/O/1, 2 = 8/N/1, 3 = 8/N/2
Read current Device Number
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Memory Pack Option Module
4
This chapter describes use of VersaMax Micro PLC Memory Pack modules with a
MicroMotion Module:
▪
Memory Pack Description
▪
▪
Write Protect Switch on the Memory Pack
Memory Pack Installation
▪
Using a Memory Pack with Version –AA MicroMotion Modules
▪
MicroMotion Module Memory Protect Switch
▪
Reading Data from a Memory Pack
▪
Writing Data to a Memory Pack
GFK-2471A
▪
Writing Data to a Memory Pack: Setup Tool
▪
Writing Data to a Memory Pack: VersaMax PLC CPU
▪
Writing Data to a Memory Pack: Host Controller
4-1
4
Memory Pack Description
The VersaMax Micro PLC Memory Pack, IC200UMB001, can be used to store and
update up to 128kB of data in a MicroMotion Module.
The Memory Pack plugs directly onto the MicroMotion Module (for MicroMotion
Modules IC200UMM002or UMM102-AA, the Memory Pack must be installed on either
one of the Port Option modules described in chapter 3, or on a filler module). See the
next page for information.
Power for the Memory Pack comes from the connector.
A MicroMotion Module can read / write some or all of its motion setup data to the
Memory Pack.
The Memory Pack can also be used to read data from a MicroMotion Module and then
copy the data to one or more additional MicroMotion Modules.
Write Protect Switch on the Memory Pack
There are two different write protection mechanisms when using a Memory Pack. The
first is the Write Protect switch on the Memory Pack itself, which is described here.
The Memory Pack’s Write Protect Switch protects the data stored on the Memory
Pack. The second type of protection is the Write Protect DIP switch on the
MicroMotion Module, which is described on the next page.
ON
OFF
When the Write Protect switch on the Memory Pack is in the On position, it prevents
writing data to the Memory Pack.
Caution
Setting the Write Protect switch on the Memory Pack to the On position prevents the
writing of data to the Memory Pack by the MicroMotion Module. However no error
message is generated and there is no indication that the data has not been written.
4-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
4
MicroMotion Module Memory Protect Switch
The MicroMotion Module has a Memory Protect switch that should be set as shown
below to prevent the data in the MicroMotion module from being accidentally
overwritten or corrupted.
The MicroMotion Module DIP switches are located behind the removable door on the
front of a MicroMotion Module. They are are factory-set to Off (down position).
DIP switch 3 is the Memory Protect switch.
DIP switch 3 should always be Off when a Memory Pack is not installed. If DIP
switch 3 is in the On position when a Memory Pack is not installed, the data in
backup memory could become corrupted.
1
2
3
4
Memory Protect
Switch 3 Off (down)
▪
If parameters already stored to the MicroMotion Module should be maintained, this
switch should be Off when powering up the MicroMotion Module with a Memory
Pack installed. If switch 3 is set to Off, parameters will not be read from the
Memory Pack into the backup memory of the MicroMotion Module. When the
MicroMotion Module is powered up, it will start without reading parameters from
the Memory Pack.
▪
If the data on a Memory Pack should write (or overwrite) parameters in the backup
memory of the MicroMotion Module, this switch should be On when powering up
the MicroMotion Module with the Memory Pack installed.
GFK-2471A
Chapter 4 Memory Pack Option Module
4-3
4
Memory Pack Installation
1. Power to the MicroMotion Module MUST BE TURNED OFF when installing or
removing a Memory Pack.
2. Orient the connector on the back of the Memory Pack with the connector on the
MicroMotion Module or Port Option Module (or filler module). A filler module is
not required with revision –BB or later MicroMotion Modules.
The connector on a Port Option Module is illustrated below.
Connector for
Memory Pack
Module
3. Press the Memory Pack downward until it clicks into place.
4. Install the protective cover(s). If only the Memory Pack is used, both covers may
be installed. If a port module is used, the righthand cover is not installed and the
port connector remains accessible.
Using a Memory Pack with –AA MicroMotion Modules
VersaMax MicroMotion Modules IC200UMM002-AA and IC200UMM102-AA are
shipped with a filler module (IC200UDB001) that must be installed in the MicroMotion
Module communications port if a port option module is not used. If a port option
module is installed on the MicroMotion Module, the filler module is not needed. The
filler module has an internal pulldown resistor that is required for proper operation of
the MicroMotion Module if no port option module is present.
When using a Memory Pack to transfer MicroMotion Module parameters, profiles, and
sequence table data, the Memory Pack must be mounted on a communications
module or on a filler module. It should not be mounted directly on the MicroMotion
Module.
4-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
4
Reading Data from a Memory Pack
Install the Memory Pack as described previously.
A Memory Pack can be installed and removed only when power to the
MicroMotion Module is Off. Do not install and remove a Memory Pack during
module operation.
MicroMotion Module
Operation data
Set DIP switch 3 on the MicroMotion Module to the On position.
1
2
3
4
Write Memory
Switch 3 On (up)
When the MicroMotion Module is powered up, if DIP Switch 3 on the MicroMotion
Module is set to the On position, the MicroMotion Module checks for the presence of a
Memory Pack. If a Memory Pack is installed, the MicroMotion Module automatically
reads all the data (Common Parameters, Profiles, Sequence Table) in the Memory
Pack.
The ST2 LED on the MicroMotion Module is On while the data is being transferred
from the Memory Pack. Wait until the ST2 LED goes Off to do any further operations.
The MicroMotion Module stores the data from the Memory Pack in its internal backup
memory. The next time the MicroMotion Module is powered up, it uses the data copied
from the Memory Pack, even if the Memory Pack has been removed while power was
turned off.
GFK-2471A
Chapter 4 Memory Pack Option Module
4-5
4
Writing Data to a Memory Pack
To write data to a Memory Pack:
1. Turn off power to the MicroMotion Module
2. Make sure DIP switch 3 on the MicroMotion Module is in the Off (down) position.
Otherwise, any data stored in the Memory Pack would overwrite the data stored in
the MicroMotion Module.
3. Set the Write Protect switch on the Memory Pack to the Off (down) position.
ON
Write Protect
OFF
Write Enable
4. Install the Memory Pack on the MicroMotion Module.
A Memory Pack can be installed and removed only when power to the
MicroMotion Module is Off. Do not install and remove a Memory Pack during
module operation.
MicroMotion Module
5. Turn on the MicroMotion Module’s power supply.
6. See the instructions on the following pages to format, initialize, and write data to a
Memory Pack using the MicroMotion Setup Tool, or by sending commands from a
VersaMax Micro PLC CPU or a host controller.
7. Be sure that power to the MicroMotion Module remains On during the backup, or
the data will be lost..
8. After writing data to the Memory Pack, turn off power to the MicroMotion Module.
9. Remove the Memory Pack.
10. Set the Write Protect switch on the Memory Pack to the On position to protect the
data that has been written.
4-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
4
Writing Data to a Memory Pack: Setup Tool
Install the Memory Pack on the MicroMotion Module as described on the previous
page.
From the task bar in the main window of the Setup Tool, select Write to
Flash open the Memory Pack Write window.
Use the buttons at the top of the Write to Flash window to either format the Memory
Pack before writing selected parameters, or to Initialize the Memory Pack with the
default values of the MicroMotion Module parameters.
Format the Memory Pack. This sets the value of each parameter to zero.
Initialize the Memory Pack, This sets all parameters to their factory defaults.
When the Memory Pack has been formatted, Common Parameters, Profile data,
Sequence Table, axis parameters, and system parameters can be written from the
MicroMotion Module to the Memory Pack.
Specify the parameters to be written as shown above and click OK. If the operation is
cancelled before it is finished, some parameters may be written or saved.
Monitoring the Status of Memory Pack Communications
The bottom of the Monitoring window provides information about communications.
The two righthand fields monitor the status of read and write
operations. “Read from MB” indicates that DIP switch 3 on
the MicroMotion Module is set to On. “MB Back up” indicates
that data is being saved on a Memory Pack.
GFK-2471A
Chapter 4 Memory Pack Option Module
4-7
4
Writing Data to a Memory Pack: VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU can use the following commands to format, initialize, and
write to a Memory Pack (see chapter 14). If the MicroMotion module loses power while
writing to a Memory Pack, the data in the Memory Pack can get become corrupted.
Command
Operation
F0
Format Memory Pack. This sets all parameters in the Memory Pack to 0.
Initialize Memory Pack: sets Common Parameters, Profiles, and Sequence
Table to their default values.
Write All to Memory Pack; Common Parameters, Profiles, Sequence Table
Write Common Parameters to Memory Pack
Write All Profiles to Memory Pack
MicroMotion Modules IC200UMM002/102-BB or later: Undefined command.
MicroMotion Modules IC200UMM002/102-AA only: WriteOneProfileto
Memory Pack by specifying profile number
Write Sequence Table to Memory Pack
Write System Parameters to Memory Pack
Write Axis Operation Data to Memory Pack
F1
F2
F3
F4
F6
F7
F8
Monitoring the Status of Memory Pack Writes
The application can check the status of writing data to a Memory Pack by setting bit 9
of the module’s Output Control Data to 1 (see chapter 14).
Switch Bank of Status Register
1 = Monitor Input Status bits
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
6
5
4
3
2
1
0
Command Number
BNK RUN
As long as bit 9 of the Output Control Data remains set to 1, words 2 and 3 of the Input
Status Data returned by the module will contain the input status bits as shown below.
Word 1
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Axis A External Input States
Axis A Status Bits
Axis B Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Position (lower word)
Word 8
Axis B Current Position (upper word)
Bit 0 of this data is 1 while the module is writing data to its backup memory or to a
Memory Pack.
Data Write Status: 1 = data being written to backup memory or Memory Pack
0 = data not being written
Axis (A or B) Error Code
4-8
7
6
5
4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
3
2
1
0
GFK-2471A
4
Writing Data to a Memory Pack: Host Controller
With a Memory Pack is installed on the MicroMotion module as described previously,
the host can write module data to the Memory Pack on command. If the MicroMotion
module loses power while writing to the Memory Pack, the operating data in the
Memory Pack can get become corrupted.
The ST2 LED on the MicroMotion module shows the status of the write operation.
The host controller can use the following MODBUS data to format, initialize, and write
data to a Memory Pack (see chapter 15):
Coils to Set for Writing to a Memory Pack
400
Format Memory Pack
401
Save initial values of MicroMotion module to Memory Pack
402
Save all parameters from MicroMotion module to Memory Pack
403
Save Common Parameters for Axis A to Memory Pack
404
Save Common Parameters for Axis B to Memory Pack
407
Write all Profile data to Memory Pack module
MicroMotion Modules IC200UMM002/102-BB or later: Undefined
command.
408
MicroMotion Modules IC200UMM002/102 only: Write One Profile to
Memory Pack module by specifying profile number.
409
Write Registration Sequence Table for Axis A to Memory Pack
410
Write Registration Sequence Table for Axis B to Memory Pack
413
Save communication setting and device number to Memory Pack
414
Write Axis A information to the Memory Pack
415
Write Axis B information to the Memory Pack
Input Status Bit to Monitor Memory Pack Writes
421
Writing to Memory Pack
0 = Write completed, 1 = Writing to Memory Pack
GFK-2471A
Chapter 4 Memory Pack Option Module
4-9
4
4-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Homing Mode
5
This chapter describes Homing Mode operations of the MicroMotion Module.
▪
Homing Operations
▪
Input Pulse Homing
▪
Free Homing
▪
Low-speed Homing
▪
▪
▪
Low-Speed Homing when Home Position Switch is Off
▪
Low-Speed Homing when Home Position Switch is On
High-Speed Homing (Off-Edge)
▪
Home Position Limit Switch Off at Start
▪
Home Position Limit Switch On at Start
High-Speed Homing (Marker)
▪
Home Position Limit Switch Off at Start
▪
Home Position Limit Switch On at Start
▪
Effect of External Inputs on Homing
▪
Setting Up, Controlling, and Monitoring Homing
GFK-2471A
▪
Homing Summary: MicroMotion Setup Tool
▪
Homing Summary: VersaMax Micro PLC CPU
▪
Homing Summary: Host Controller
5-1
5
Homing Mode Overview
Homing Mode establishes a Home Position for an axis, and writes the Home position
data to axis output position data. The MicroMotion Module performs the following types
of Homing operations:
▪
Free Homing.
▪
Low-speed Homing.
▪
High-Speed Homing (Off Edge).
▪
High-Speed Homing (Marker Pulse).
Details are given on the following pages.
If the axis is already operating (which is indicated by the Run bit in the Input Status
Data being On), homing cannot be performed. Attempting to perform homing on an
operating axis causes an error.
During Low-Speed or High-Speed Homing, the module accepts other commands that
can be executed during Run mode. However, the module does not accept commands
to change velocity, the registration input, or feedrate override during Homing.
Input Pulse Homing
The homing operations listed above all result in the current axis output position being
set to the Home Position when homing is complete. For revision –AA MicroMotion
Modules, the position of the input pulse always depends on the count of the feedback
pulse.
For MicroMotion Modules IC200UMM001/102-BB or later the position of the input
pulse can also be set to the Home Position. Use of Input Pulse Homing is optional.
5-2
▪
If Input Pulse Homing is disabled, the current position of the output pulse is set to
the Home Position when the homing is complete. The position of the input pulse
depends on the count of the feedback pulse.
▪
If Input Pulse Homing is enabled, the current position of both the output and input
pulses is changed to the Home Position when the homing is completed.
▪
If the axis COIN input is enabled, the MicroMotion Module monitors the COIN input
state after the pulse to home is output. (Homing is completed by turning on the
COIN input.)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
5
Free Homing
CCW speed
Free Homing must be performed while the axis is stopped. In Free Homing, the
operation is complete when the Home Position data is written into current axis output
position.
Start position
CCW
CW speed
CW
GFK-2471A
Home position
Chapter 5 Homing Mode
5-3
5
Low-Speed Homing
In Low-Speed Homing, the axis moves in the commanded direction at the Final Home
Velocity to a position where the Home Position Limit Switch turns On. Axis motion in
Low-Speed Homing depends on whether the Home Position Limit Switch is On or Off
when Homing starts.
Low-Speed Homing when Home Position Limit Switch is Off
If the Home Position Limit Switch is Off at the start of Low-Speed Homing, the axis
moves in the commanded direction to the On edge of the Home Position Limit Switch.
The axis stops, and the current axis position becomes the Home Position. Homing is
then complete.
CCW speed
Home
position LS
CW speed
CW
5-4
Reverse direction
ON
Home
position
OFF
Forward direction
OFF
Start position
ON
Home position
CCW
Start position
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
5
Low-Speed Homing when Home Position Limit Switch is On
If the Home Position Limit Switch is On at the start of Low-Speed Homing, the axis
moves in the commanded direction until it passes the switch position, which turns the
switch Off. The axis continues for 20ms beyond the Off edge of the Home Position
switch and stops. The axis then starts moving in the reverse direction to the On edge
of the Home Position Limit Switch. The axis stops and the Home Position becomes the
current axis output position. Homing is complete.
Reverse direction
ON
CCW speed
Home
position LS
OFF
Forward direction
OFF
20ms
Home position
Home position
Start position
CCW
CW speed
CW
GFK-2471A
ON
Start
20ms
Chapter 5 Homing Mode
5-5
5
High-Speed Homing [Off-Edge]
In High-Speed Homing [Off Edge], the axis moves in the commanded direction at the
Find Home Velocity [low] to a position where the Home Position Limit Switch turns On.
Axis motion in High-Speed Homing [Off Edge] depends on whether the Home Position
Limit Switch is On or Off when homing starts.
If the Home Position Limit Switch is Off at the start of HighSpeed Homing [Off Edge]
▪
Motion starts in the commanded direction at the Find Home Velocity [low]. The
Final Home Velocity defaults to 50pps (as in the illustration below). For
MicroMotion Modules -BB and later, it can be configured using bits 8-6 of Common
Parameter Word 2 to be 100, 200, 400, 800, 1600, 3200, or 6400pps. See chapter
11 for details.
▪
The axis accelerates to the Find Home Velocity [high]. The axis uses its
Deceleration Rate parameter to stop at the On edge of the Home Position Limit
Switch.
▪
The axis reverses direction and moves at the Find Home Velocity [low] to the Off
edge of the Home Position Limit Switch.
▪
The axis stops 5 pulses from the Off edge of the Home Position Limit Switch. This
number of pulses is fixed; it does not depend on the velocity of High-Speed
Homing.
▪
The axis reverses direction again and continues at the Final Home Velocity.
▪
The axis stops at the On edge of the Home Position Limit Switch. The Home
Position becomes the current axis output position and Homing is complete.
CCW speed
Home Position
Limit Switch
ON
OFF
Home
position
Find Home Velocity [low]
CW speed
CW
Start
position
50pps*
Deceleration
Rate
CCW
Find Home Velocity [low]
Acceleration rate
Find Home Velocity [high]
* Configurable for modules IC200UMM002/102-BB or later.
5-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
5
If the Home Position Limit Switch is On at the start of HighSpeed Homing [Off Edge]:
▪
Motion starts in the commanded direction at the Find Home Velocity [low]. The
final home velocity defaults to 50pps (as in the illustration below). For MicroMotion
Modules -BB and later, it can be configured using bits 8-6 of Common Parameter
Word 2 to be 100, 200, 400, 800, 1600, 3200, or 6400pps. See chapter 11 for
details.
▪
The axis accelerates to the Find Home Velocity [high]. The axis uses its
Deceleration Rate parameter to stop at the Off edge of the Home Position Limit
Switch.
▪
The axis reverses direction and accelerates from the Find Home Velocity [low] to
the Find Home Velocity [high].
▪
The axis moves at the Find Home Velocity [high] to the On edge of the Home
Position Limit Switch, then stops while slowing down.
▪
The axis reverses direction again and moves to the Off edge of the Home Position
Limit Switch.
▪
The axis moves 5 pulses from the Off edge of the Home Position Limit Switch and
stops. This number of pulses is fixed; it does not depend on the velocity of HighSpeed Homing.
▪
The axis reverses direction again and moves at the Final Home Velocity to the On
edge of the Home Position Limit Switch.
▪
The Home Position becomes the current axis output position and homing is
complete.
OFF
CCW speed
Home Position
Limit Switch
Find Home Velocity [high]
CW speed
Deceleration
Rate
Acceleration
Rate
50pps
CW
GFK-2471A
ON
Home
position
Start position
CCW
Find Home Velocity [low]
5 pulses
Find Home Velocity [high]
Chapter 5 Homing Mode
5-7
5
High-Speed Homing [Marker]
In High-Speed Homing [Marker], the axis moves in the commanded direction at the
Find Home Velocity [low] to the first Marker (Z) input past the Home Position Limit
Switch.
Axis motion in High-Speed Homing [Marker] depends on whether the Home Position
Limit Switch is On or Off when homing starts.
If the Home Position Limit Switch is Off at the start of HighSpeed Homing [Marker]
▪
Motion starts in the commanded direction at the Find Home Velocity [low]. The
Final Home Velocity defaults to 50pps (as in the illustration below). For
MicroMotion Modules -BB and later, it can be configured using bits 8-6 of Common
Parameter Word 2 to be 100, 200, 400, 800, 1600, 3200, or 6400pps. See chapter
11 for details.
▪
The axis accelerates to the Find Home Velocity [low]. It uses its Deceleration Rate
parameter to stop at the On edge of the Home Positoin Limit Switch.
▪
The axis reverses direction and moves to the Off edge of the Home Position Limit
Switch, at the Find Home Velocity [low].
▪
The axis stops 5 pulses past the Off edge of the Home Position Limit Switch. This
number of pulses is fixed; it does not depend on the velocity of High-Speed
Homing.
▪
The axis reverses direction again, and continues at the Final Home Velocity.
▪
The axis stops at the On edge of the first marker input after the Home Position
Limit Switch turns On. The Home Position becomes the current axis output
position and Homing is complete.
Home Position
Limit Switch
ON
OFF
CCW speed
Marker input
CW speed
CW
5-8
5 pulses
Home
position
Find Home Velocity [low]
Start position
50pps
CCW
Find Home Velocity [low]
Acceleration Rate
Deceleration
Rate
Find Home Velocity [high]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
5
If the Home Position Limit Switch is On at the start of HighSpeed Homing [Marker Pulse]:
▪
Motion starts in the commanded direction at the Find Home Velocity [low]. The
final home velocity defaults to 50pps (as in the illustration below). For MicroMotion
Modules -BB and later, it can be configured using bits 8-6 of Common Parameter
Word 2 to be 100, 200, 400, 800, 1600, 3200, or 6400pps. See chapter 11 for
details.
▪
The axis accelerates to the Find Home Velocity [high]. The axis uses its
Deceleration Rate parameter to stop at the Off edge of the Home Position Limit
Switch.
▪
The axis reverses direction and accelerates from the Find Home Velocity [low] to
the Find Home Velocity [high].
▪
The axis moves at the Find Home Velocity [high] to the On edge of the Home
Position Limit Switch, then stops while slowing down.
▪
The axis reverses direction again and moves at the Find Home Velocity [low] to the
Off edge of the Home Position Limit Switch.
▪
The axis moves 5 pulses from the Off edge of the Home Position Limit Switch and
stops.
▪
The axis reverses direction again and moves at the Final Home Velocity to the On
edge of the first marker input after the Home Position Limit Switch turns On.
▪
The Home position data is written to the current axis output position and homing is
complete.
Home Position
Limit Switch
OFF
ON
CCW speed
Marker input
Find Home Velocity [high]
Home
position
CW speed
CW
GFK-2471A
Find Home Velocity [low]
50pps
Start
ii
CCW
Find Home Velocity [low]
5 pulses
Deceleration Rate
Chapter 5 Homing Mode
Acceleration Rate
Find Home Velocity [high]
5-9
5
Effects of External Inputs on Homing
1. If an overrun already exists (the Forward Overrun (FO) or Reverse Overrun (RO)
input for the axis is On) Free Homing cannot be started. For Low-Speed Homing
and High-Speed Homing, motion can be started in the opposite direction.
2. If the Emergency Stop (ES) input goes Off in Free Homing, an error occurs.
Low-Speed or High-Speed Homing cannot be performed if the Emergency Stop
(ES) input is Off. The ES input must be turned On and the error must be cleared. If
the Emergency Stop (ES) input goes Off during Low-Speed or High-Speed
Homing, a fast or normal stop occurs (using the Deceleration Rate parameter).
3. If the Drive OK/Ready (DR) input for the axis is Off, Free Homing cannot be
performed. If DR goes Off during Low-Speed or High-Speed Homing, a fast stop
occurs.
4. Free Homing cannot be performed if the Move Complete (COIN) input for the axis
is Off.
5. If an overrun occurs during Free Homing, (FO / RO input goes Off), an error
occurs.
For Low-Speed or High-Speed Homing, motion stops temporarily. No error occurs.
Motion resumes in the opposite direction. If the RO or FO input goes Off again
while moving in the opposite direction, an error occurs.
If Low-Speed or High-Speed Homing is performed in a direction that moves away
from the Limit Switch, an Overrun occurs and the direction is reversed.
RO
FO
CW
CW speed
CCW speed
Reverse the
move direction
without error
LS
+ Overrun occurs
5-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
5
If the Limit Switch is not able to turn On after the first overrun, motion past the Limit
Switch position causes a second overrun, which generates an error as shown
below, and motion stops.
RO
FO
CW
CW speed
CCW speed
Reverse the
move direction
without error
ERR
LS
Breakdown
-O.RUN occurrence
+ overrun occurs
The Overrun (FO / RO) and Emergency Stop (ES) inputs can stop the pulse
output. Whether these inputs cause a normal stop or a fast stop depends on their
Common Parameter setting. If the move velocity is slow, a fast stop is always
used.
6. The Jog Reverse (JR), Jog Forward (JF) and High-Speed Registration (HSR)
inputs are disabled during Low-Speed or High-Speed Homing.
V
V
Homing
Manual operation
Homing
JR, JF
Manual / Auto operation
HSR
Disable
Disable
t
t
V
Homing
Manual / Auto operation
FE
Disable
t
GFK-2471A
Chapter 5 Homing Mode
5-11
5
Setting Up, Controlling, and Monitoring Homing
This section is a quick reference to setting up, controlling and monitoring Homing
Operations. Additional setup, control, and monitoring will be needed to complete an
application.
Homing Summary: MicroMotion Setup Tool
The MicroMotion Setup Tool (see chapter 12) provides a convenient interface for
setting up, controlling, and monitoring all features of the MicroMotion Module. The
window shown below is used to set up the parameters for Homing. When the tool is
online to the MicroMotion Module, the Current Value column shows the parameter
value in the module.
During operation, the Input Signal display shows whether the Home Position Limit (HL)
switch input is On:
The following tools on the Monitoring Screen execute Homing operations:
Perform Free Homing
Perform Low-Speed Homing in CW direction.
Perform Low-Speed Homing in CCW direction.
Perform High-Speed Homing (Off edge) in CW direction.
Perform High-Speed Homing (Off Edge) in CCW direction.
Perform High-Speed Homing (Marker) in CW direction.
Perform High-Speed Homing (Marker) in CCW direction.
5-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
5
Homing Summary: VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU can use the following commands to set up, initate, and
monitor Homing (see chapter 14 for more information)
Command
(hexadecimal)
Set Up Read
61
B1
62
B2
63
B3
68
69
6A
6B
76
77
B8
B9
BA
BB
C6
C7
Operation
Commands for Homing Parameters
Common Parameter Word 1
Bit 6
Input feedback position for input pulse homing
Bit 8
Homing Direction for Rotary axis
Common Parameter Word 2
Bits 6-8 Final Home Velocity for High-Speed Homing: 50-6400 pps
Common Parameter Word 3
Bits 8-9 Wait Time for Input Pulse Homing: 100/250/500/1000ms
Find Home Velocity for Homing (low)
Find Home Velocity for Homing (high)
Homing Acceleration Rate
Homing Deceleration Rate
Home Position for Homing
Home Position Offset for Homing
Commands to Perform Homing Operations
10
Perform Free Homing
11
Perform Low-speed Homing (CCW direction)
12
Perform Low-speed Homing (CW direction)
13
Perform High-speed Homing Off Edge (CCW direction)
14
Perform High-speed Homing Off Edge (CW direction)
15
Perform High-speed Homing Marker Pulse (CCW direction)
16
Perform High-speed Homing Marker Pulse (CW direction)
Commands to Monitor Homing Status
Bit 11: 1 = Overun Error
Bits 15-12 hex value indicates operation:
A3
GFK-2471A
hex
0
1
2
3
4
5
6
7
Homing Status
Idle
Performing Free Homing
Performing low-speed Homing (forward direction)
Performing low-speed Homing (reverse direction)
Performing High-Speed Homing [Off Edge] (forward)
Performing High-Speed Homing [Off Edge] (reverse)
Performing High-Speed Homing [Marker] (forward direction)
Performing High-Speed Homing [Marker] (reverse direction)
Chapter 5 Homing Mode
5-13
5
Homing Summary: Host Controller
A host controller can use the following MODBUS data for Homing (see chapter 15):
Axis A
Axis B
Description
Holding Registers for Homing Parameters: Lower word in lower register, also
Input Status Registers to Read Homing Parameters: Lower word in lower register
111-112
113-114
115-116
117-118
138-139
140-141
211-212
213-214
215-216
217-218
238-239
240-241
100
200
102
202
103
203
Find Home Homing speed
Final Home Homing speed
Homing: Acceleration Rate
Homing: Deceleration Rate
Home position in Homing
Home Position Offset
Common Parameter Word 1
Bit 6
Input feedback position for input pulse homing
Bit 8
Homing Direction for Rotary axis
Common Parameter Word 2
Bits 6-8 Final Home Velocity, High-Speed Homing: 50-6400 pps
Common Parameter Word 3
Wait Time for Input Pulse Homing:
Bits 8-9
100/250/500/1000ms
Coils to Write All Homing Parameters to Holding Registers
220
221
Set (write) All Common Parameters to Holding Registers
Coils to Set for Perform Homing Operations
300
301
302
303
304
305
306
310
311
312
313
314
315
316
Perform Free Homing
Perform Low-speed Homing (CCW direction)
Perform Low-speed Homing (CW direction)
Perform High-speed Homing (OFF Edge / CCW direction)
Perform High-speed Homing (OFF Edge / CW direction)
Perform High-speed Homing (Marker / CCW direction)
Perform High-speed Homing (Marker/CW direction)
Input Status Registers to Monitor Homing Status
11
5-14
26
Bit 11: 1 = Overun Error
Bits 15-12 hex value indicates operation:
hex Homing Status
0
Idle
1
Performing Free Homing
2
Performing low-speed Homing (forward direction)
3
Performing low-speed Homing (reverse direction)
4
Performing High-Speed Homing [Off Edge] (forward)
5
Performing High-Speed Homing [Off Edge] (reverse)
6
Performing High-Speed Homing [Marker] (forward)
7
Performing High-Speed Homing [Marker] (reverse)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Manual Mode
Chapter
6
This chapter describes Manual Mode operation of the MicroMotion Module.
▪
▪
▪
▪
GFK-2471A
Overview of Manual Mode
▪
Operations in Manual Mode
▪
Additional Features in Manual Mode
Operation by Command
▪
Jogging Operation by Command
▪
Inching Operation by Command
▪
Effect of External Inputs During Manual Operation by Command
Manual Mode Operation Controlled by External Inputs
▪
Operation in External Input Mode
▪
Executing Commands During External Inputs Manual Mode
▪
Effect of External Inputs During Manual Operation by External Inputs
Setting Up, Controlling, and Monitoring Manual Mode
▪
Manual Mode Summary: MicroMotion Setup Tool
▪
Manual Mode Summary: VersaMax Micro PLC CPU
▪
Manual Mode Summary: Host Controller
6-1
6
Overview of Manual Mode
Together with Auto Mode and Homing, Manual Mode is one of the basic operating
modes of the MicroMotion Module.
Operations in Manual Mode
An axis can perform the following basic operations in Manual mode:
▪
Inching
In Inching, the axis outputs a pulse for a specified distance. The pulse
can be output in either the clockwise or counter-clockwise direction.
▪
Jogging
In Jogging, the axis outputs a continuous pulse until it is commanded
to stop.
▪
Inching + Jogging When Inching and Jogging are combined, turning On either
external input Jog Forward (JF) or Jog Reverse (JR) starts the inching
operation. When the external input is On for 200ms or more after the
inching operation is completed, the jog is started.
By default, the axis’s pulse output for inching or jogging moves is controlled by
commands from the VersaMax Micro PLC or host controller. However, Manual Mode
can also be controlled by external input signals to the MicroMotion Module.
Manual Mode operation by external input signals must be explicitly enabled by the
CPU or host. Once the axis is operating in external input mode, the CPU or host can
no longer control the axis. The CPU or host must cancel external input mode to be
able to control the axis again.
Additional Features in Manual Mode
Other operating features of the MicroMotion Module can also be used in Manual mode:
6-2
▪
Windowing Operation, which coordinates movement of an axis with a HighSpeed Registration input that occurs at regular intervals. See chapter 9
for information about Windowing.
▪
Follower Operation, which sets up one axis to follow the motion of the other. The
master axis performs inching and jogging moves in Manual mode, and
the follower axis copies its motion. An optional Gear Ratio can be used
to change the scale of the follower’s motions. See chapter 8 for
information about Follower operation.
▪
Combined Windowing and Follower Operation.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
6
Operation by Command
By default, an axis’s pulse output for inching or jogging moves is controlled by
commands from the VersaMax Micro PLC or host controller, as described in this
section. Alternatively, Manual Mode can be controlled by external input signals to the
MicroMotion Module as described in the next section.
See the section Setting Up, Controlling, and Monitoring Manual Mode in this chapter
for information about the CPU or host controller commands that can be used to enable
Manual Mode operation by external inputs or commands.
Jogging Operation by Command
If the CPU or host writes the command for Jogging in the counter-clockwise direction,
the axis outputs a forward pulse. If the CPU or host writes the command for Jogging in
clockwise direction, the axis outputs a reverse pulse. If the axis receives a Manual
mode command for the opposite direction while Jogging is underway, the axis slows
and stops.
When the axis receives a Jog command, the axis accelerates from the Initial Velocity
to the Maximum Velocity at the Acceleration Rate parameter for Manual Mode. If the
decelerated stop command or the stop command is received, the pulse slows to a stop
at the Deceleration Rate or stops immediately, based on the command received.
Jog CCW by Command
Command
Normal Stop
t
CCW speed
Jog CCW
CW
CW speed
Stop position
CCW
Jog CW by Command
Command
Normal Stop
Jog CW
CCW speed
t
Stop
position
CCW
CW speed
CW
GFK-2471A
Chapter 6 Manual Mode
6-3
6
Inching Operation by Command
If the CPU or host writes the command for Inching in counter-clockwise direction, the
axis outputs a forward pulse. If the CPU or host writes the command for Inching in
clockwise direction, the axis outputs a reverse pulse. If the axis receives a Manual
mode command for the opposite direction while Inching is executing, the axis slows
and stops.
When the Inching command is received, the axis outputs a pulse for the Inching
Distance specified by the common parameters, at the Manual mode Initial Velocity. No
Stop command is needed.
If another inching command is received while the axis is moving, it is an error.
Inch CW by Command
Inch CW
Command
Inch CW
Inch CW
CCW speed
t
CCW
CW speed
CW
Inch CCW by Command
Inching CCW
Inching CCW
Inching CCW
CCW speed
Command
CCW
CW speed
CW
t
6-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
6
Effect of External Inputs During Manual Operation by Command
The effects of external inputs during Manual Mode operation by command instructions
are listed below.
Signal
COIN
LS
FO
RO
FE
HSR
DR
ES
On/Off State
ON/OFF
ON/OFF
OFF
OFF
ON
ON/OFF
OFF
OFF
Result
ERR
Disable
ERR
ERR
Valid
Valid
ERR
ERR
▪
If the Emergency Stop (ES) input is Off, the operation does not start. The operation
does not start until the error is cleared after turning On the input signal ES.
▪
If the Emergency Stop (ES) input turns Off during Manual mode, a fast stop or
normal stop (as set up) occurs.
▪
If the Move Complete (COIN) and Drive OK/Ready (DR) inputs are enabled in the
Common Parameters, both inputs must be turned On to start the manual
operation. If COIN is Off at the start of the motion, an error is generated. Once the
motion is in progress, the state of COIN is ignored.
▪
If the Overtravel inputs (FO and RO) are enabled in the Common Parameters, an
emergency stop or decelerated stop occurs if the overtravel input turns Off during
Manual mode.
▪
If the Drive OK/Ready (DR) input is enabled in the Common Parameters, an
emergency stop occurs if DR turns Off during Manual mode.
▪
If the Feedrate Override (FE) input is enabled in the Common Parameters, if FE
turns On during manual operation, the axis speed decelerates at the rate specified
Deceleration Rate. If FE turns Off, the speed returns to its previous rate.
▪
If the Registration (HSR) input is enabled in the Common Parameters, turning HSR
On during manual operation causes the fixed number of pulses to be output and
stopped from the On position.
GFK-2471A
Chapter 6 Manual Mode
6-5
6
Manual Mode Operation Controlled by External Inputs
In this mode, the JF and JR input signals control movement of the axis.
Manual Mode operation by external input signals must be specifically enabled by the
CPU or host, or using the Setup Tool. The Jog Forward (JF) and Jog Reverse (JR)
module inputs must be connected, and their use must be enabled in the Common
Parameters (see chapter 11).
Once the axis is operating in external input mode, the CPU or host can no longer
control the axis. The CPU or host must cancel external input mode to be able to control
the axis again. The axis must not be operating when the command is received.
An axis can be set to Manual Mode using external inputs when an error exists on the
axis. If motion is initiated without removing the cause of the error and clearing the
error, Manual Mode is cancelled.
Jog Forward (JF) and Jog Reverse (JR) are edge-sensitive; they must go On after the
switch to external input mode has been made. If JF and JR were already On when the
PLC or controller sent the command to switch to external input mode, they must be
turned On again after switching.
JR, JF valid
External input instruction mode
JR, JF
V
Invalid because it was turned on before
switching to the external input instruction mode.
t
The Run bit must be Off to begin Manual Mode operation.
Manual operation cannot be controlled by an external input if:
6-6
1.
the axis is operating (the Run input for that axis is On).
2.
the axis is not in external input mode.
3.
the axis is in Follower mode.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
6
Operation in External Input Mode
External input instruction mode has three motions, which are set up in the axis the
common parameters: Jogging, Inching, and Inching + Jog.
If the external input Jog Forward (JF) for an axis goes On, the forward pulse is output.
If the external input Jog Reverse (JR) for an axis goes On, the reverse pulse is output.
The pulse stops while slowing down if both Jog Forward (JF) and Jog Reverse (JR) go
On. After the pulse output stops completely, turning either input Off starts the pulse in
the direction of the output that remains On. If either input is turned Off before its pulse
output stops, the pulse is output according to the next external input that turns On.
JF
JR
V
Forward
direction
Reverse
direction
Forward
direction
t
Jogging Operation with External Inputs
In Jogging mode, the pulse begins at the Initial Velocity and accelerates at the
Acceleration Rate to the Maximum Velocity.
Until a Stop command is given, turning the manual inputs JF and JR Off and On
provides continuous operation as shown above. Motion continues until one of the
following occurs:
A. the external input instruction mode is cancelled.
B. the Stop command or Decelerated stop command is given.
C. the external Emergency Stop (ES) input turns Off.
If an error occurs, the operation stops and the external input instruction mode is
canceled.
GFK-2471A
Chapter 6 Manual Mode
6-7
6
Jog Reverse by JR Input
OFF
CCW speed
JR
Stop
position
CCW
CW speed
CW
ON
Jog Forward by JF Input
ON
OFF
CCW
velocity
JF n
CW
CCW
CW
velocity
Stop
position
Inching Operation
In Inching mode, pulses are output at the On edge of external inputs Jog Forward (JF)
and Jog Reverse (JR). The number of pulses that are output is set up in the Inching
Distance common parameter.
JF
JR
OFF
ON
Pulse
output
[t]
6-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
6
Combined Inching and Jogging Operation
When Inching and Jogging are combined, turning On external input Jog Forward (JF)
or Jog Reverse (JR) starts the inching operation. When the external input is On for
200ms or more after the inching operation is completed, the jog is started.
JF
JR
OFF
ON
Pulse
output
200ms
[t]
Executing Commands During External Inputs Manual Mode
Commands that can be executed during Run mode (Run bit is On) can be executed
while the module is operating in Manual mode controlled by the external JF and JR
inputs.
Homing can be performed if the pulse is not being output (both Jog Forward and Jog
Reverse must be Off). If either Jog Forward or Jog Reverse goes On during homing, it
is ignored. Turn the JR/JF signal On again after homing is completed.
External input instruction mode
JF/JR input is invalid because the
homing is being performed.
JF n
JR n
OFF
ON
Homing
Pulse
output
[t]
Homing can be performed
because pulse is not output.
GFK-2471A
Chapter 6 Manual Mode
6-9
6
Effect of External Inputs During Manual Operation by External Inputs
The effects of external inputs that have been enabled in the axis setup on Manual
Mode operations are described below.
▪
Signal
COIN
LS
FO
RO
FE
HSR
DR
ES
On/Off State
ON/OFF
ON/OFF
OFF
OFF
ON
ON/OFF
OFF
OFF
Result
ERR
Disable
ERR
ERR
Valid
Valid
ERR
ERR
Manual Mode operation will not start unless the Move Complete (COIN) input and
the Drive OK/Ready (DR) input are On.
C O IN
JF , JR
V
t
W aiting for C O IN O n
If COIN is Off at the start of the motion, an error is generated. Once the motion is in
progress, the state of COIN is ignored.
▪
A fast or normal stop occurs if the overrun input goes Off. By default, a fast
(immediate) stop occurs. The type of stop can be changed to a normal
(decelerated) stop using the Setup Tool (see chapter 12) or by setting bit 12 of
Common Parameter Word 3 to 1 (see chapter 11), from the PLC CPU or host
controller.
RO
CCW speed
OFF
6-10
ON
ON
OFF
ERR
CCW
CW speed
CW
FO
ERR
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
6
▪
An emergency stop occurs if Drive OK/Ready (DR) goes Off. See below.
▪
If FE goes On, the axis slows at the Deceleration Rate. If FE goes Off, the axis
returns to its previous speed. If the Feedrate Override (FE) input is On before the
operation starts, the operation uses the velocity after feedrate as a fixed speed
JR, JF
FE
V
t
Decelerate by FE input.
▪
If the Registration (HSR) input goes On, the fixed number of pulses is output from
the On position, then stopped. External input instruction mode is not ended if it is
stopped by HSR.
JR, JF
HSR
V
No output
▪
At
acceleration
At constant
speed
If the Emergency Stop (ES) input goes On, a fast stop or normal stop (as set up in
the Common Parameters) occurs. The input signal ES must be turned Off and the
error must be cleared. The PLC CPU or host controller must then command the
module to use the external JF and JR inputs again, as described earlier in this
section.
ES
DR
ON
ON
OFF
OFF
V
V
GFK-2471A
At decelerated stop
(HSR input is invalid.)
ERR
ERR
t
t
Chapter 6 Manual Mode
6-11
6
Setting Up, Controlling, and Monitoring Manual Mode
This section is a quick reference to setting up, controlling and monitoring Homing
Operations. Additional setup, control, and monitoring will be needed to complete an
application.
Manual operation can be controlled by a command instruction unless:
1. The axis is operating in external input mode. The CPU or host must cancel
external input mode as described on the previous pages to control the axis again.
2. An overrun exists in the direction of movement.
Manual Mode Summary: MicroMotion Setup Tool
The MicroMotion Setup Tool (see chapter 12) provides a convenient interface for
setting up, controlling, and monitoring all features of the MicroMotion Module. The
window shown below is used to set up the parameters for Homing. When the tool is
online to the MicroMotion Module, the Current Value column shows the parameter
value in the module.
During operation, the Input Signal display shows whether the Jog Forward (JF), Jog
Reverse (JR), High-Speed Registration (HSR) or Feedrate Override (FE) external input
is On:
JF
The following tools on the Monitoring Screen execute Homing operations:
Set/Cancel Manual Mode using external inputs.
Perform Inching CW, distance specified by common parameters.
Perform Inching CCW, distance specified by common parameters.
Jog in CW direction. Continue until this icon is clicked again or the icon for
Stop/Emergency stop (see above) is clicked.
Jog in CCW direction. Continue until this icon is clicked again or the icon
for Stop/Emergency stop is clicked.
6-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
6
Manual Mode Summary: VersaMax Micro PLC CPU
If the MicroMotion Module is part of a VersaMax Micro PLC system, the CPU can use
the following commands in the module’s Control Output Data to set up, initate, and
monitor Manual Mode (see chapter 14 for details).
Command
Set Up Read
Operation
Commands for Manual Mode Parameters
Common Parameter Word 2
62
B2
6C
BC
Bits 12- Move Type when the Jog Forward or Jog Reverse external
13
input is On: Jog, Inching, or Inching + Jog
Set Maximum Velocity for Manual mode
6D
BD
Set Initial Velocity for Manual mode
6E
BE
Set Acceleration Rate for Manual mode
6F
BF
Set Deceleration Rate for Manual mode
70
C0
Set Inching Distance for Manual mode
Commands to Perform Manual Mode Operations
23
Use external input mode
24
Cancel external input mode
40
External Input Mode disabled: Perform Jog (consecutive pulse
output/CCW direction)
41
External Input Mode disabled: Perform Inching (designated distance
pulse output/CCW direction)
42
External Input Mode disabled: Perform Jog (consecutive pulse
output/CW direction)
43
External Input Mode disabled: Perform Inching (designated distance
pulse output/CW direction)
Command to Monitor Manual Mode Status
Bit 6: 1 = Rotating in reverse direction.
Bit 7: 1 = Rotating in forward direction.
Bit 8: 1 = speed controlled by the Feedrate Overwrite input.
Bit 9: 1 = positioning by the HSR input.
Bit 11: 1 = Overun Error
A3
Bits 15-12 Hex value indicates operation:
hex
0
8
GFK-2471A
Manual Mode Status
Idle
Manual operation (stopped) [External input mode]
9
Manual operation (operating) [External input mode]
A
Manual operation (controlled by command)
Chapter 6 Manual Mode
6-13
6
Manual Mode Summary: Host Controller
A host controller can use the following MODBUS data for Manual Mode (see chapter
15):
Axis A
Axis B
Description
Holding Registers for Manual Mode Parameters: Lower word in lower register,
Input Status Registers to Read Manual Mode Parameters: Lower word in lower
register
119-120
121-122
123-124
125-126
127-128
140-141
219-220
221-222
223-224
225-226
227-228
240-241
102
202
Maximum Velocity in Manual mode
Initial Velocity in Manual Mode
Acceleration Rate for Manual Mode
Deceleration Rate for Manual Mode
Inching Distance for Manual Mode
Home Position Offset
Common Parameter Word 2.
Bits 12-13
Move Type when the Jog Forward or Jog Reverse
external input is On: Jog, Inching, or Inching + Jog
Coils to Write All Manual Mode Parameters to Holding Registers
220
221
Set (write) All Common Parameters to Holding Registers
Coils to Set for Perform Manual Mode Operations
292
293
Set / cancel Manual (external input) mode
360
370
External Input Mode disabled: Perform Jog (consecutive pulse
output/CCW direction)
361
371
362
372
363
373
External Input Mode disabled: Perform Inching (designated
distance pulse output/CCW direction)
External Input Mode disabled: Perform Jog (consecutive pulse
output/CW direction)
External Input Mode disabled: Perform Inching (designated
distance pulse output/CW direction)
Input Status Registers to Monitor Manual Mode Status
Bit 6: 1 = Motion in reverse direction.
Bit 7: 1 = Motion in forward direction.
Bit 8: 1 = speed controlled by the Feedrate Overwrite input.
Bit 9: 1 = positioning by the HSR input.
11
6-14
26
Bit 11: 1 = Overun Error
Bits 15-12 Hex value indicates operation:
hex Manual Mode Status
0
Idle
8
Manual operation (stopped) [External input mode]
9
Manual operation (operating) [External input mode]
A
Manual operation (controlled by command)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Auto Mode Operation
7
This chapter describes the automatic operating modes of the MicroMotion Module.
▪
Auto Mode Operation
▪
▪
Profiles for Auto Mode
▪
▪
▪
Jog Forward Input in Auto Mode
HSR Input in Auto Mode
Setting Up, Controlling, and Monitoring Auto Mode
▪
▪
▪
▪
▪
▪
GFK-2471A
Registered and Specified Sequence Tables
Breakpoints in a Registered Sequence Table
Parameters of Profile Instances in a Sequence Table
▪ Control: Speed or Position
▪ Positioning: Absolute or Incremental
▪ Profile Cycle Type: Continue or Stop
Effects of External Inputs in Auto Mode
▪
▪
▪
Using the Same Profiles for Both Axes
Auto Mode Initial Velocity
Sequence Tables
▪
▪
▪
▪
Additional Features of Auto Mode
Auto Mode Summary: MicroMotion Setup Tool
Auto Mode Summary: VersaMax Micro PLC CPU
Auto Mode Summary: Host Controller
Data Format of a Sequence Table
Data Format of a Profile
Data Format of a Dwell
7-1
7
Auto Mode Operation
In Auto Mode, the MicroMotion Module executes one or more profiles that have
been set up in advance. A library of up to 256 profiles can be developed and
stored to the module.
Sets of predefined profiles can be combined, for automatic execution of complex
positioning operations. A set of combined profiles is called a Sequence Table.
Dwell 1
[V]
Profile 1
Dwell 2
Profile 2
Profile 3
Profile 1
[t]
Profile
1
Profile
2
Profile
3
Profile 1
Dwell 1
Profile 2
Dwell 2
Profile 3
Profile 1
Sequence table
Profile data
Additional Features of Auto Mode
The following operating features can also be combined with Auto mode:
7-2
▪
Windowing Operation, which allows an axis to be coordinated with a High-Speed
Registration input that occurs at regular intervals. See chapter 9 for
information about Windowing.
▪
Follower Operation, which sets up one axis to follow the motion of the other. The
master axis executes the profiles in the Sequence Table, and the
follower axis copies its motion. An optional Gear Ratio can be used to
change the scale of the follower’s motions. See chapter 8 for
information about Follower operation.
▪
Combined Windowing and Follower Operation.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Profiles for Auto Mode
Up to 256 profiles can be stored to a MicroMotion Module for use in Auto Mode. Each
profile is characterized by the following set of Profile Parameter Data:
▪
An identifying number from 0 to 255
▪
An Acceleration Rate.
▪
A Deceleration Rate.
▪
A Velocity.
▪
A Target Position.
Profiles can be defined and written to the module using the MicroMotion Setup Tool or
using commands from a VersaMax Micro PLC CPU or host controller.
For example, when configuring a profile with the Setup Tool, the screen shows both
the current parameters of the profile, if already configured, and the new parameters as
they are entered.
See the section Setting Up, Controlling, and Monitoring Auto Mode later in this chapter
for details.
Using the Same Profiles for Both Axes
Profiles stored to the module are not axis-specific. They can be used to build
Sequence Tables for either or both axes, provided that the axis parameters are
appropriate.
▪
If both axes have the same Upper Velocity in their Common Parameters, they can
use the same stored profiles. Do not use the same profiles for Axis A and Axis B if
the axes have different Upper Position Limits. At the start of Auto Mode, the
MicroMotion Module may need to correct the acceleration, deceleration and
velocity of the profile based on the Upper Velocity Limit. After that, the module
uses the corrected profile data for that profile. The corrected profile data may not
be appropriate for both axes if their Upper Velocity Limits are not the same.
▪
If User Units (pulses, µms, inches, or degrees) and User Units or Pulses Per Motor
Rotation (10 to 65535) are not the same for both axes, execution of the Profile
Parameter Data will be different for each axis.
GFK-2471A
Chapter 7 Auto Mode Operation
7-3
7
Sequence Tables
A Sequence Table is a parameterized list of up to 499 profiles and dwells that an axis
will perform in Auto Mode. The MicroMotion Module can execute a Sequence Table
stored in its backup memory (called the Registered Sequence Table) or a Sequence
Table received from a VersaMax PLC CPU or host controller (called a Specified
Sequence Table). The basic structure of Registered and Specified Sequence Tables
is the same. The primary distinction between the two types is their source.
Registered Sequence Table
Profile 1
Profile 2
MicroMotion
Module
Profile table
Profile 1
Profile 2
Profile n
Specified Sequence Table
Profile n
Profile 1
Profile 2
Profile n
Registered and Specified Sequence Tables
▪
A Registered Sequence Table is stored in the module’s backup memory.
Operation of the Registered Sequence Table is started by command from the
Setup Tool, or from the Micro PLC CPU or host controller. Typically, a Registered
Sequence Table would be used repeatedly during module normal operation,
without change. To make changes to a Registered Sequence Table, the entire
table must be edited and re-stored to the module. A Registered Sequence Table
can include breakpoints, as described on the next page.
▪
A Specified Sequence Table is written to the module from a VersaMax Micro
PLC CPU or host controller. The module stores a Specified Sequence Table in a
separate memory area. Typically, this type of Sequence Table would be used for
applications where the Auto mode operations will be changed and updated
frequently.
Execution of a Specified Sequence Table from the CPU or host takes precedence over
execution of a Registered Sequence Table stored in the module.
7-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Breakpoints in a Registered Sequence Table
For MicroMotion Modules IC200UMM002-BB and UMM102-BB or later, a Registered
Sequence Table can be divided into groups of profiles separated by breakpoints.
Using these breakpoints, the MicroMotion Module can execute individual portions of
the Registered Sequence Table either once or repeatedly.
Execution can start at the beginning of the Sequence Table, or at any intermediate
profile. Execution continues to the next breakpoint in the sequence. Execution of the
Sequence Table and choice of the starting sequence number can be controlled from
the MicroMotion Setup Tool, or on command from a VersaMax Micro PLC CPU or a
host controller. See the section Setting Up, Controlling, and Monitoring Auto Mode
later in this chapter for details.
The use of breakpoints is only possible with a Registered Sequence Table. If the
module receives a Specified Sequence Table containing breakpoints from the PLC
CPU or host controller, the module ignores the breakpoints when executing the
Sequence Table.
Registered Sequence Table
Profile table
Profile 1
Profile 1
Profile 2
MicroMotion
Module
Profile 2
Profile n + Breakpoint
Profile 255
Profile 254
Profile m + Breakpoint
Profile n
Profile 18
Profile 51
Profile p + Breakpoint
Specified Sequence Table
Profile 1
Profile 2
If the Specified Sequence
Table includes a breakpoint,
it is ignored.
Profile n
GFK-2471A
Chapter 7 Auto Mode Operation
7-5
7
Breakpoint Example
This example Sequence Table includes three breakpoints, located at sequence
numbers 3, 9, and 16 (which is the last sequence number in this table)
Breakpoint
S1
S2
S3
S5
S7
S4
S6
Dwell
Dwell
Breakpoint
S8
S9
S 11
Breakpoint
S 12
S 13
S 14
S 10
Dwell
S 16
S 15
Dwell
Defining Breakpoints
A breakpoint sequence number must be a profile; it cannot be a dwell. The profile must
be explicitly set up as a breakpoint in the Sequence Table.
Specifying the Starting and Ending Sequence Number
The starting sequence number must be specified when sending the command. The
starting sequence number can be for either a profile or a dwell.
The ending sequence number will be the next sequence number that has been set up
as a breakpoint. The breakpoint cannot be a sequence step that is set for Speed,
Continue.
For the above example, the following alternatives are possible (see the section Setting
Up, Controlling, and Monitoring Auto Mode at the end of this chapter for details of
performing these operations from the Setup Tool, from a Micro PLC CPU, or from a
host controller):
▪
Execute the entire Sequence Table once without breakpoints
▪
Execute the entire Sequence Table repeatedly without breakpoints
▪
Start with sequence 1, 2 or 3 and execute to sequence 3 once.
▪
Start with sequence 1, 2, or 3 and execute to sequence 3 repeatedly
▪
Start with sequence 5, 6, 7, 8, or 9 and execute to sequence 9 once
▪
Start with sequence 5, 6, 7, 8, or 9 and execute to sequence 9 repeatedly
▪
Start with sequence 11, 12, 13, 14, 15, or 16, and execute to sequence 16 once
▪
Start with sequence 11, 12, 13, 14, 15, or 16, and execute to sequence 16
repeatedly
Sending the module a command to execute to the breakpoint, but supplying an invalid
starting sequence number causes a Sequence Table error.
7-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Parameters of Profile Instances in a Sequence Table
As mentioned earlier, each profile stored in the module is characterized by the
following Profile Parameter Data:
▪
An identifying number from 0 to 255
▪
The Acceleration Rate for that profile.
▪
The Deceleration Rate for that profile.
▪
The Velocity for that profile.
▪
The Target Position.
When a defined profile is added to a Sequence Table, additional operating
characteristics for that profile instance are specified:
▪
Whether it will be used for positioning or speed control.
▪
For positioning, whether the positioning will be: absolute or absolute + incremental.
▪
For speed control, whether the axis will move in a forward or reverse direction.
▪
Whether the profile’s Acceleration and Deceleration will be linear or s-curve.
▪
For a rotary axis performing absolute positioning, whether the positioning will be in
a specified direction or in the shortest direction.
▪
Whether the profile will be used as a breakpoint.
This can be easily seen in the Sequence Table screen of the MicroMotion Setup Tool,
as shown below. The numbers in the first column represent the order in which the
profiles and dwells in this Sequence Table will be executed. The last column lists the
pre-assigned profile numbers for profiles, and the dwell time for dwells. In this
example, the third profile that will be executed in the Sequence Table is profile 6 (last
column).
The same profile can be added to a Sequence Table more than once, and assigned
different operating characteristics for each instance.
The following pages describe the operating characteristics that can be selected for a
profile instance in the Sequence Table.
GFK-2471A
Chapter 7 Auto Mode Operation
7-7
7
Control: Speed or Position
Each profile can be set up for either Position Control or Speed Control. Both types use
the same basic parameters: Acceleration Rate, Deceleration Rate, and Velocity.
A profile set up for Position Control also has a target point. Profiles set up for position
control can be combined in a continued operation.
Positioning Control
In positioning control, the axis uses profile data for steady velocity, acceleration, and
deceleration, to move to a defined target point.
Speed Control
In speed control, the axis uses profile data for steady velocity, acceleration, and
deceleration, as in positioning control. However, no target point is used.
The speed profile switch command can also be used to switch profiles in speed control
operation. From a Micro PLC CPU, this is command 1C hex. From a host controller it is
coil 256. The Setup Tool can also be used. See the section Setting Up, Monitoring,
and Controlling Auto Mode at the end of this chapter for more information.
A profile set up for Speed Control also specifies the direction of axis motion. If a profile
is set up for Speed Control, the speed of the axis can be controlled in these ways:
▪
If the Feedrate Override (FE) input is enabled in the axis setup, FE can be used to
decrease the Velocity.
▪
the Jog Forward (JF) input or Jog command from the CPU or host can be used to
advance to the next profile in the Sequence Table. Axis speed can be changed by
changing profiles. The JF input only performs this function for speed control
profiles.
▪
If the High-Speed Registration (HSR) input is enabled in the axis setup, it can be
used to extend a profile by a specified Registration Distance.
HSR
JF
FE
CCW
speed
D
A
C
Profile a
B
b
c
d
CCW
CW
M
CW speed
Distance H
Speed: A A x FE(%) A B C D
7-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Positioning: Absolute or Incremental
A profile that is set up for Position Control can operate with either absolute positioning
or absolute plus incremental positioning. These two choices result in different
operation from the same set of data, as described below.
Absolute Target Positioning for Linear Moves
In absolute positioning, the values specified in the profle represent absolute target
positions in relation to the 0 starting position. In the example below, the first move is
from the starting position of 0 to the absolute position of +800. The second move is
back to the absolute position of +600. The third move is to the final position of –200.
Profile
Target Position
1
2
3
800
600
-200
600
-200
0
800
Absolute + Incremental Target Positioning for Linear Moves
In incremental positioning, the signed values specified in the profile represent the
length and direction of each move in relation to the 0 starting position. The first move is
always the same for either Absolute or Absolute + Incremental positioning. Using the
same data as the first example, the first move below is from the starting position of 0 to
the target position of +800. The second move is 600 in the positive direction, to the
incremental position of 1400. The third move is 200 in the negative direction, to the
final position of +1200.
600
1400
120
-200
0
800
200
GFK-2471A
Chapter 7 Auto Mode Operation
7-9
7
Absolute Positioning for Rotary Moves
Rotary moves have a maximum length that is equivalent to 4,294,967,295 pulses.
When switching from a linear move to a rotary move or from a rotary move to a linear
move, the current position becomes 0.
When the Position Type of a profile is set to Absolute, rotation may be specified from 0
to the configured upper limit. The rotary direction is set up in the Sequence Table.
In the example illustrated below left, the current position is 270 degrees, the Target
Position is 180 degrees and the Upper Position Limit is 360 degrees. If clockwise
direction is specified, rotation occurs in the (A) direction. In the same example, if
counter-clockwise direction is specified, rotation occurs as specified in the (B)
direction. If shortest direction is specified, rotation would also occur in the (B) direction
for this example.
Incremental Target Positioning for Rotary Moves
As in absolute positioning, the range of axis movement is 0 to the Upper Position Limit.
If the Target Position exceeds the Upper Position Limit, the current position is an angle
from 0. When moving in the CCW direction, the current position is an angle from 0 if
the target position is below 0 after incrementing. As illustrated below right, if the current
position is 315 degrees and the Target Position is +90 degrees and the Upper Position
Limit is 360 degrees; the axis rotates clockwise (A) to 45 degrees. If the current
position is 45 degrees and the Target Position is -90 degrees; the axis rotates
counterclockwise (B) to 315 degrees.
Absolute
Incremental
0
(A)
(B)
(A)
315
0
45
270
(B)
180
In Absolute + Incremental Positioning, if the Upper Position Limit is 0, the current
position of the axis will never reach the Upper Position Limit.
Reverse direction
0
Forward direction
Upper limit position
Moves in the shortest direction are not possible.
7-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Profile Cycle Type: Continue or Stop
CCW speed
Each profile in a Sequence Table has a Cycle Type of either Continue or Stop.
CW
0
Continue
Continue
Profile 3
Profile 4
Profile 5
Profile 6
Stop
CCW
Stop
If the Cycle Type is set to stop, the axis stops at that profile’s target position. If the
Cycle Type is set to continue, motion continues between profiles with only changes in
speed, and no dwells. As many as 100 predefined profiles can be combined into one
continued operation.
The example below shows three separate profiles: 2, 3, and 1. When they are placed
in the Sequence Table, profiles 2 and 3 are assigned to be continuous. The diagram
shows how the module combines the acceleration and deceleration rates of the three
individual profiles to create the continuous profile shown at the bottom.
Profile 2
Profile 3
Profile 1
Deceleration
of Profile 3
Acceleration
of Profile 1
Change to the acceleration
type of Profile 2
Profile 2
Profile 3
Deceleration
of Profile 1
Change to the deceleration
type of Profile 2
Profile 1
This continuous execution of one or more profiles within a Sequence Table is not the
same as executing multiple cycles of the entire Sequence Table. If the entire
Sequence Table will be executed repeatedly, the last profile in the sequence must
have its Cycle Type set to Stop, not to Continue.
Position control and speed control profiles must be separated by dwells, so position
control and speed control cannot be used together in the same continuous operation.
GFK-2471A
Chapter 7 Auto Mode Operation
7-11
7
In addition, the axis direction of rotation cannot be changed during a continuous
operation.
All profiles of a continuous operation start with an acceleration or deceleration (if there
is a change of speed between profiles), followed by motion at the Velocity (constant
speed) of that profile. The final profile of a continuous operation also includes a final
deceleration to stop.
▪
The Acceleration Type (s-curve or linear) and Deceleration Type (s-curve or linear)
of the first profile in a continuous operation are used for all profiles, regardless of
their individual settings. This is shown in the example above, where profile 2 (on
the left) is set up for s-curve acceleration and linear deceleration. In the combined
profile, the acceleration type and deceleration type of profile 1 (on the right) have
been changed to s-curve acceleration and linear deceleration.
▪
A continuous operation can consist of either position control or speed control
profiles, but not both.
▪
The direction of a rotary move cannot be changed during a continuous operation.
▪
If the velocity of a profile is faster than the velocity of the previous profile in a
continuous operation, the axis accelerates to the new velocity using the
acceleration rate of the current profile.
▪
If the velocity of a profile is slower than the velocity of the previous profile in a
continuous operation, the axis decelerates to the new velocity using the
deceleration rate of the current profile.
▪
Each profile in the continuous operation uses its own parameters for acceleration
or deceleration entering the profile, and velocity. The last profile uses its own
parameters for acceleration or deceleration entering the profile, velocity, and
deceleration at the end of the profile.
For s-curve acceleration or deceleration, the shape of the curve is determined by the
point at which the change is speed is greatest. If the speed change is too small, the
ideal shape of an s-curve cannot be formed.
V
The point where
change in speed is
greatest fixes the
shape of S-curve.
The point where change
in speed is sm aller form s
a curve like this.
t
7-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Adjusting for Short Moves in Continuous Operation
If the move distance specified by a profile’s Target Position is small and if the profile
has a small Deceleration Rate, in continuous operation it is possible for the axis to
transition to the next profile before reaching the target velocity (left below). Similarly, if
the move distance and Acceleration Rate specified in the profile are small, the axis can
also transition to the next profile before reaching the target velocity (right below).
If the profile transitions directly from deceleration to acceleration, the velocity may drop
suddenly.
If this happens, either:
A. adjust the profile so that acceleration occurs at a steady rate.
B. In the Common Parameters, select Linear as the Deceleration Type for the axis.
GFK-2471A
Chapter 7 Auto Mode Operation
7-13
7
Acceleration Type and Deceleration Type
The Acceleration Rate and Deceleration Rate for each profile are part of the profile
definition. When a profile is added to the Sequence Table, the Acceleration Type and
Deceleration Type can be set to either Linear or S-Curve.
S-Curve
Acceleration
V
Acceleration
S-Curve
Deceleration
Deceleration
Linear
Acceleration
Acceleration
Linear
Deceleration
Deceleration
t
Direction of Absolute Positioning for a Rotary Axis
If the axis is set up in the Common Parameters to have its Motion Type: Rotary, and in
the Sequence Table, Control is set to Position and Position is set to ABS, rotation can
be in the shortest direction or in the designated direction.
Specified direction
Shortest direction
Breakpoint
For MicroMotion Modules IC200UMM002/102-BB or later, one or more profiles in a
Registered Sequence Table can be set up as breakpoints. A breakpoint is a profile at
which Auto Mode operation will either stop or return to a specified starting sequence
number.
The breakpoint cannot be a dwell, or a profile with its type set to Continue.
See the description of breakpoints earlier in this chapter for more information.
7-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Effects of External Inputs in Auto Mode
The effects of external inputs during Auto Mode are listed below.
Signal
COIN
LS
FO
RO
JF
JR
FE
HSR
DR
ES
On/Off State
ON/OFF
ON/OFF
OFF
OFF
ON
ON
ON
ON/OFF
OFF
OFF
Result
ERR
Disable
ERR
ERR
Valid
Disable
Valid
Valid
ERR
ERR
When the Overrun FO / RO input is Off, the axis stops.
If the Feedrate Override (FE) input goes On, the axis velocity decreases at the
Feedrate Override Percentage. If FE goes Off, motion returns to the former speed.
If the Drive OK/Ready (DR) input goes Off, motion stops immediately. (Normal stop is
not possible.)
When the ES input goes off, a fast or normal stop occurs (depending on the axis setup
for Emergency Stop.)
Jog Forward Input in Auto Mode
In speed-controlled Auto Mode, the On edge of the Jog Forward input advances from
one profile in a sequence table to the next profile, as shown below. This operation is
not used for positioning control.
1 2
2 3
3 4
4 Dwell
10 Dwell
Invalid
Invalid
JF
[V]
Profile 1
2
3
4
10
20
Speed control
21
Position control
[t]
HSR Input in Auto Mode
If the High-Speed Registration (HSR) input goes On, the axis moves the Registered
Move Distance then stops. Operation resumes at the start of the next profile.
HSR
Dwell
Pulse
output
Profile 1
GFK-2471A
2
Chapter 7 Auto Mode Operation
3
4
5
[t]
7-15
7
Setting Up, Controlling, and Monitoring Auto Mode
This section is a quick reference to setting up, controlling and monitoring Auto mode
operations. Additional setup, control, and monitoring will be needed to complete an
application.
Data formats for profile and sequence table data are shown at the end of this section.
Auto Mode Summary: MicroMotion Setup Tool
The MicroMotion Setup Tool (see chapter 12) provides a convenient interface for
setting up, controlling, and monitoring all features of the MicroMotion Module. The
Initial Velocity for Auto mode is set up in the Common Parameters window. The default
Initial Velocity is 100 (user units).
The window shown below is used to set up the profiles that will be used in Auto mode.
The Sequence Table window is used to combine pre-defined profiles into a Sequence
Table, and set up the operating characteristics of each profile.
7-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Tools to Control Auto Mode
The setup tool provides the following tools to command Sequence Table execution
(see chapter 12):
Execute the Registered Sequence Table stored in the module once.
Execute the Registered Sequence Table stored in the module. At
the end, return to the first profile and start again.
Execute the Registered Sequence Table once from the specified
start sequence number to the next breakpoint.
Specify the start sequence number to execute.
Execute Registered Sequence Table from start sequence number
to the next breakpoint, continuously.
Execute the Specified Sequence Table once.
Execute the Specified Sequence Table. At the end, return to the
first profile and start again.
Switch to next profile data by clicking this icon in Auto Mode (speed
control).
GFK-2471A
Chapter 7 Auto Mode Operation
7-17
7
Auto Mode Summary: VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU can use the commands listed on the next page to set up,
initate, and monitor Auto mode (see chapter 14 for more information). Data formats for
Profile and Sequence Table data are shown at the end of this section.
Monitoring the Axis Standby Bit
To switch into Auto Mode, an axis must be in standby mode (the axis STBY bit is on).
Switching to Auto Mode when the STBY bit is Off causes a command error. The PLC
CPU should check the status of this bit before commanding a switch to Auto Mode.
The status of the axis Standby bits is returned in the first word of Input Status Data that
the VersaMax Micro PLC CPU receives from the module in each scan of the I/O.
Axis A is in standby mode = 1
Axis B is in standby mode = 1
15
Word 1
Word 2
HS
14
13
12
11
10
9
8
7
6
INIT RUN1 STB1 ERR1 RUN2 STB2 ERR2
Axis A External Input States
5
4
3
2
1
0
Used by system
Axis B External Input States
Word 3
Word 4
Word 5
Format depends on
data that was requested
Word 6
Word 7
Word 8
7-18
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Summary of Auto Mode Commands: VersaMax Micro PLC CPU
Command
Set Up Read
67
90
91
92
93
94
95
98
-
B8
E0
E1
-
E8
A2
Operation
Commands for Auto Mode
Initial Velocity for Auto mode
All Profile Data
Specific Profile
Acceleration Rate for One Profile
Deceleration Rate for One Profile
Velocity for One Profile
Target Position for One Profile
Write Sequence Table
Return currently-executing profile in Auto mode
Commands to Perform Auto Mode Operations
1C
Switch speed control profile
52
Perform single cycle at startup, using the Sequence Table stored
(registered) in the module.
Perform single cycle of the Sequence Table data supplied with
the command.
Perform multiple cycles at startup, using the Sequence Table
stored (registered) in the module.
Perform multiple cycles of the Sequence Table data supplied
with the command.
Perform single cycle of the Registered Sequence table to the
breakpoint.
Perform continuous cycles of the Registered Sequence table to
the breakpoint.
Clear all profile data
53
Clear one profile
54
Clear sequence table
30
31
32
33
34
35
Commands to Monitor Axis Status
Bit 8 = 1: Speed controlled by Feedrate Override
Bit 9 = 1: Positioning by HSR input
Bit 10 = 1 Dwell in Auto mode
Bit 11 = 1: Overun Error
Bits 15-12 hex value indicates operation:
hex
Homing Status
0
Idle
B
Auto mode (positioning control)
C
Auto mode (speed control)
GFK-2471A
Chapter 7 Auto Mode Operation
7-19
7
Auto Mode Summary: Host Controller
A host controller can use the following MODBUS data for Auto mode (see chapter 15).
Data formats for Profile and Sequence Table data are shown at the end of this section.
Monitoring the Standby Bit
To switch into Auto Mode, an axis must be in standby mode (the axis STBY bit is on).
Switching to Auto Mode when the STBY bit is Off causes a command error. The PLC
CPU should check the status of this bit before commanding a switch to Auto Mode.
The status of the axis standby bits is located in Input Status Bits 10 and 13, as shown
in the following table.
Summary of Auto Mode: Host Controller
A host controller can use the following MODBUS data for Auto mode (see chapter 15):
Axis A
Axis B
Description
Holding Registers for Homing Parameters: Lower word in lower register, also
Input Status Registers to Read Homing Parameters: Lower word in lower register
500
1500
Number of elements in the Registration Sequence Table
501
1501
Registration Sequence Table 1
…
…
…
999
1999
Registration Sequence Table 499
1000
2000
Number of table elements in the Designation Sequence Table
1001
2001
Designation Sequence 1
…
…
…
1499
2499
Designation Sequence 499
4519
Specify Profile data number to set
4520 – 4521
Profile 1 Acceleration Rate
4522 – 4523
Profile 1 Deceleration Rate
4524 – 4525
Profile 1 Velocity
4526 – 4527
Profile 1 Target Position
…
…
6560 - 6561
Profile 256 Acceleration Rate
6562 - 6563
Profile 256 Deceleration Rate
6564 - 6565
Profile 256 Velocity
6566 - 6567
Profile 256 Target Position
Coils to Write All Parameters to Holding Registers
220
221
Set (write) All Common Parameters to Holding Registers
Coils to Control Auto Mode Operations
7-20
210
Clear all profile data
211
Clear one profile
224
Set all Profile data
225
Set designated Profile data
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Axis A
Axis B
226
227
Set Registration Sequence Table
Description
256
257
Change speed control profile in Auto Mode
340
344
Perform single cycle of stored (Registered) Sequence Table
341
345
Perform multiple cycles of stored (Registered) Sequence Table
342
346
Perform single cycle of Supplied Sequence Table
343
347
Perform multiple cycles of Supplied Sequence Table
520
522
Perform single cycle of Registered Sequence Table to
breakpoint
521
523
Perform multiple cycles of Registered Sequence Table to
breakpoint
Input Status Bits for Auto Mode
13
10
Axis in Standby mode = 1.
Input Registers to Monitor Axis Operation
Bit 8 = 1: Speed controlled by Feedrate Override
Bit 9 = 1: Positioning by HSR input
Bit 10 = 1 Dwell in Auto mode
11
GFK-2471A
26
Bit 11 = 1: Overun Error
Bits 15-12 hex value indicates operation:
hex Auto Mode Axis Status
0
Idle
B
Auto mode (positioning control)
C
Auto mode (speed control)
Chapter 7 Auto Mode Operation
7-21
7
Data Format of a Sequence Table
A Sequence Table consists of up to 499 items of profile data (including the operational
information), and dwells.
In a Sequence Table, each profile or dwell is represented by a word of data. The
format of the data for a profile or dwell is shown on the next page.
Words in the
Sequence Table
Bits in the Sequence Table Word
15 14 13 12 11 10
9
8
Number of
Sequence Table
items
7-22
Profile data No.1
0
Dwell (50ms)
1
Profile data No.2
Profile data No.1
7 to 0
Value
(hex)
4
(0 4 hex)
0004
1
(0 1 hex)
0001
0
0
0
0
0
0
0
50
(3 2 hex)
8032
0
0
0
1
0
1
0
0
2
(0 2 hex)
1402
0
1
0
0
0
1
0
0
1
(0 1 hex)
4401
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
7
Data Format of a Profile
Bit 15 of each data word in the Sequence Table determines whether the word
represents a profile or a dwell. If bit 15 is 0, the data word represents a profile. Each
profile in the Sequence Table has the following parameter bits.
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Profile or Dwell
0 = Profile
1 = Dwell
Type of Move
0 = Forward (Speed control), or
Absolute (Position control)
1 = Reverse (Speed control), or
Absolute + Increment (Position Control)
Position Control or Speed Control
0 = Position control
1 = Speed control
Cycle Type
0 = Stop at target position
1 = Continue, changing speed
Acceleration Type
0 = Linear acceleration
1 = S-curve acceleration
Deceleration Type
0 = Linear deceleration
0 = S-curve deceleration
Direction of Rotation
0 = Specified direction
1 = Shortest direction
Breakpoint (requires module IC200UMM002/102-BB or later)
0 = Continue
1 = Breakpoint
Profile Number: 0 to 255 (FF hex)
The BreakPoint Bit
Operation stops in sequence where the Breakpoint bit is 1. When this bit is 0,
operation continues.
▪
One operation is completed by the sequence in which the Breakpoint bit is 1.
▪
If bit 12 (Cycle Type) is set to 1, the profile cannot include a breakpoint. If the
Breakpoint bit turns On while bit 12 is set to 1, a Sequence Table error occurs.
Data Format of a Dwell
If bit 15 is 1, the data word represents a dwell. Bits 0 to 14 contain the duration of the
dwell, in milliseconds.
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Always 1
Dwell Time: 0 to 32768ms
GFK-2471A
Chapter 7 Auto Mode Operation
7-23
7
7-24
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Follower Operation
8
This chapter describes the axis Follower operation feature of VersaMax MicroMotion
modules IC200UMM002/102-BB or later.
▪
Follower Operation
▪ Manual Mode Operation of a Follower Axis
▪ Auto Mode Operation of a Follower Axis
▪ Homing Mode Operation of a Follower Axis
▪ Windowing Mode Operation of a Follower Axis
▪
Standby/Run Status of a Follower Axis
▪
Using a Gear Ratio for Follower Operation
▪ Velocity Limits for Follower Operation
▪ Initial Velocity for Follower operation
▪ Velocity Adjustments in Follower operation
▪ Position Limits of Rotary Motion in Follower Operation
▪
Timing Considerations for Follower Mode
▪ Timing for Velocity Correction
▪ Axis Stops in Manual or Auto Mode (Speed Control)
▪ Auto Mode (Position Control)
▪ Using a Gear Ratio for Follower Operation
▪ Conditions in Repeated Triangular Profiles
▪
Effects of External Inputs on Follower Operations
▪ Positioning Complete Input
▪ Forward or Reverse Overtravel Input
▪ Drive Ready Input
▪ Emergency Stop Input
▪ Feedrate Override Input
▪ High-Speed Registration Input
▪ Jog Forward and Jog Reverse Inputs
▪
Setting Up, Controlling, and Monitoring Follower Operation
▪ Follower Operation Summary: MicroMotion Setup Tool
▪ Follower Operation Summary: VersaMax Micro PLC CPU
▪ Follower Operation Summary: Host Controller
GFK-2471A
8-1
8
Follower Operation
In Follower operation, one axis is set up to follow the operation of the other axis. Either
axis can be set up as the follower.
While the master axis performs the requested operation in Auto Mode or Manual
Mode, the follower axis copies its motion. The profile of the follower axis can be
adjusted either up or down by assigning a Gear Ratio for Follower operation.
Follower operation can be combined with Windowing, in either Auto or Manual mode.
Manual Mode Example of a Follower Axis
The example below illustrates a Manual Mode Inch + Jog operation, in which Axis A is
the master. Axis B is set up as the follower.
In this example, when the Axis A Jog Reverse input turns On, Axis A moves at its
configured acceleration, velocity, and deceleration rates. Axis B follows at its
configured Gear Ratio (approximately 3:2, ie: 1.5), which in this example results in a
steeper acceleration and deceleration rate than Axis A.
ON
JR A
OFF
[V]
A-axis
Master
200ms
[V]
[t]
× Follower ratio
B-axis
Follower
200ms
8-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
[t]
GFK-2471A
8
Auto Mode Example of a Follower Axis
The example below shows an Auto Mode sequence that includes a Dwell.
In this example, Axis A is the master and Axis B is the follower. The speed and the
number of pulses from Axis B are output in the specified Gear Ratio (approximately
3:2, ie: 1.5), which results in steeper acceleration and deceleration than the master
axis.
[V]
A-axis
Master
[t]
[V]
× Follower ratio
B-axis
Follower
[t]
GFK-2471A
Chapter 8 Follower Operation
8-3
8
Homing Mode Operation of a Follower Axis
An axis that has been set up as a follower can execute homing if it is not currently
being driven by the master axis.
If a follower axis is performing homing and follower operation is cancelled for the axis,
the axis completes its homing operation. When the axis finishes homing, its mode
changes back to Idle.
Execute mode setting command
Note:
Cannot execute Homing
while following
Idle
Follower
Homing
command
Execute mode cancel
command
Execute STOP or mode
cancel command
Error occurs
Homing
complete
Homing
Homing operation of a master axis is not followed by a slave. If Homing is executed on
a slave and, at the same time, the master executes an operation in Manual Mode or
Auto Mode, follower mode is cancelled (error 53hex on the slave axis). The slave
continues homing and the master continues its Auto or Manual Mode operation.
Windowing Operation with a Follower Axis
Windowing can be used to coordinate the operation of an axis with a High-Speed
Registration input (see chapter 9) that occurs at regular intervals. Windowing can be
used in either Manual or Auto mode. Follower operation can be combined with
Windowing by setting up the master axis for Windowing and setting up the other axis
for Follower operation.
Windowing is only set up for the master axis. If a follower axis is commanded to
perform windowing, the command is ignored.
If Windowing is already enabled while an axis is in the idle state and then follower
operation is commanded on the same axis, Windowing is disabled (error code 68hex)
on that axis.
During Windowing, the master’s WND status bit is set when the master axis is within
the specified window area. However, the WND status bit for the follower axis does not
indicate when the follower is within the window area.
8-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Standby/Run Status of the Follower Axis
The On/Off states of the STB bit/LED are different for the master and follower axes, as
explained below.
Standby/Run Indications in Manual Mode (Inching + Jog )
The illustration below compares the states of the STB/Run bits for the master and
follower in Manual mode.
Under manual operation mode
Master axis
200ms
t
RUN
Follower axis
STB
GFK-2471A
ON
ON
t
RUN
STB
ON
ON
Chapter 8 Follower Operation
8-5
8
Standby/Run Indications in Auto Mode
To follow the master in Auto Mode, the follower axis must be in a standby state. The
STB LED on the module must be On, and the axis Standby bit must be 1. See the
section Setting Up, Controlling, and Monitoring Follower Operation at the end of this
chapter for more information about the axis Standby bits.
The On/Off states of the STB bit / LED are different for the master and follower axis, as
shown below.
Continuous sequence
Master axis
Dwell
RUN
Follower axis
STB
RUN
STB
t
ON
ON
t
ON
ON
If the STB bit of the follower axis is Off, executing any of the Auto Mode operating
commands on the master axis causes error 42hex on the follower axis.
8-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Using a Gear Ratio for Follower Operation
Gear Ratio is an optional factor that can be used to scale the pulses from the master
axis for operation of the follower axis. Pulses can be scaled up or scaled down. The
Gear Ratio setting is shown graphically on the Setup Tool. If the Setup Tool is online to
a MicroMotion Module, the Current Value fields show the Gear Ratio parameters for
that axis that are currently stored in the module. The default is 1:1. The Setting Value
fields can be used to enter a new Gear Ratio for the axis.
(Stored) Master pulse or velocity value
(Stored) Follower pulse or velocity value
(New) Master pulse or velocity value
(New) Follower pulse or velocity value
The Gear Ratio expresses the relationship between the follower axis pulse output or
velocity to that of the master. For example:
Axis B is set up as the follower axis
The destination position for Axis A (master) = 10,000
The destination position for Axis B (follower) = 5,000
The relationship between the master position and that of the follower is:
10,000 : 5000 =
2 :1 Gear Ratio
The Gear Ratio 2:1 would be entered in the Setting Value fields of the Setup Tool as
shown below.
2
1
When entering values for Gear Ratio using the Setup Tool, or from the PLC CPU or
host controller:
GFK-2471A
▪
The Master value can be 1 to 32
▪
The Follower value can be 1 to 10,000
Chapter 8 Follower Operation
8-7
8
A Gear Ratio can be set up for both Axis A and Axis B. (When using the Setup Tool, it
would be done on the Axis A tab and the Axis B tab). The specified Gear Ratio would
only be used when Axis A or Axis B was later put in Follower mode. For example, Axis
A could be assigned a Gear Ratio of 3:4 and Axis B could be assigned a Gear Ratio of
2:1. In both cases, the Gear Ratio would take effect only when Axis A or Axis B was
put into Follower mode.
Automatic Adjustments Based on the Gear Ratio
When a Gear Ratio is assigned, the module automatically calculates the velocity of the
follower axis from the velocity of the master axis, as described in this section. The
module may also need to adjust other parameters for correct follower operation:
▪
The Upper Position Limit of the follower must be equal to or greater than:
Master Move Distance X Gear Ratio
▪
The move velocity of the master X Gear Ratio must not exceed 2M pps.
▪
The Velocity Limit of the follower is equal to:
Master Velocity Limit X Gear Ratio
When an axis is set up as a follower, the module does not use the axis Velocity
Limit that has been set up in the Common Parameters. Instead, the module
calculates the Velocity Limit as shown here.
The module then uses the calculated Velocity Limit (Master Velocity Limit X Gear
Ratio) to adjust the Initial Velocity and Maximum Velocity that have been set up
for the follower axis in the Common Parameters. These adjustments are only used
during Follower operation.
8-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Velocity Limits in Follower Operation
The velocity range of an axis depends on the Velocity Limit defined for the axis in its
Common Parameters. Raising the Velocity Limit expands the velocity range as
represented below.
500,000 pps
1000 pps
100 pps
100 pps
A velocity range is divided into 8,192,000 increments. Setting the Velocity Limit to a
higher value as represented on the right above increases the size of each individual
increment.
The module automatically adjusts the velocity of an axis if the Velocity Limit set in the
Common Parameters lies between range increments. For Follower operation, the
module may adjust the velocity of the master or slave axis, or both. These adjustments
can have an effect on Follower operation.
If the application requires the actual velocity to be exactly the same as the set velocity,
choose an axis Velocity Limit from which the module can calculate the axis velocity
without truncating or rounding down:
▪
The following expression must equal an even number with no remainder:
8192000 / Velocity Limit
▪
The value for units (below) must also have no remainder.
Units = 1000 / (8192000 / Velocity Limit)
▪
When units are divided by the target velocity, the result must be a whole number:
Velocity = target velocity / Units
For example, if the Gear Ratio is set at 16:1 and the Velocity Limit of the master is set
at 50,000 [pps], the Velocity Limit of the follower would be adjusted during module
calculations. For an exact match with a Gear Ratio of 16:1, the master Velocity Limit
should instead be set to 51,200 [pps]. The resulting calculated Velocity Limit of the
follower axis would be 819,200 [pps] (51200 x 16 = 819200).
GFK-2471A
Chapter 8 Follower Operation
8-9
8
Initial Velocity of the Master Axis in Manual Mode
In Manual Mode, the Gear Ratio selected for follower operation and the Initial Velocity
of the master axis should meet the following relational expression:
Gear Ratio ≥ 1 / (1 + (0.2 x Initial velocity of master axis))
If a Manual Mode operation (Inching + Jog) is executed with a small initial velocity on
the master axis, and the Gear Ratio selected for follower operation is less than 1, the
Jog operation of the follower axis may not occur.
200ms
Initial velocity
Master axis
This cannot follow the master axis
because the pulse output is not
completed.
Initial velocity x Gear Ratio
Follower axis
For example, if the Initial Velocity of the master axis in Manual Mode is 100pps, the
Gear Ratio must be 0.0476 or more. If the initial velocity is 100pps but the Gear Ratio
is only 0.04, the Inching pulse output from the follower axis is 4pps and the time for
one output pulse is 250ms. With this combination of parameters, the follower would not
be able to follow the Jog operation of the master axis.
Inching drive
Master axis
100 pps
200 ms
1 / 25
10 ms
Slave axis
250 ms
4 pps
[t]
Inching drive
The minimum units for the follower axis depend on the upper velocity limit of the
master axis and the Gear Ratio. If the upper velocity limit of the master axis is set
unnecessarily high, the follower axis may not be able to output the expected initial
velocity needed to follow correctly.
8-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Position Limits for Rotary Axes in Follower Operation
If both the master and follower axes are rotary mode
If both axes are in rotary mode and a Gear Ratio is used, the Upper Position Limit
(Common Parameter 20) of the follower axis must be equal to the Upper Position Limit
of the master axis multiplied by the Gear Ratio. This is shown by the following
illustration.
Upper limit position
360,000 ( = 300,000 x 1.2 )
Upper limit position
300,000
Gear ratio 1.2
Master axis
Follower axis
If the Upper Position Limit of the follower axis is not equal to the Upper Position Limit of
the master multiplied by the Gear Ratio, the position where the follower axis rolls over
(switches from the upper limit position to 0, or from 0 to the upper limit position) will be
misaligned. The setup must be changed to make the Upper Position of the follower
equal to the Upper Position Limit of the master multiplied by the Gear Ratio.
If only the master axis is in rotary mode
If only the master axis is in rotary mode, the move distance of the master axis should
not exceed the upper position limit of the follower axis.
When only the follower axis is in rotary mode
If only the follower axis is in rotary mode, although it follows the pulse output from the
master axis, the position of the follower is not equal to the current position of master
axis multiplied by the Gear Ratio because the follower axis rolls over (at the Upper
Position Limit or 0).
When only the follower is in rotary mode, the move distance of the master axis must be
set up so the follower operation will not exceed the maximum move distance
(4,294,967,295 pulses) of the follower (rotary) axis.
GFK-2471A
Chapter 8 Follower Operation
8-11
8
Timing Considerations for Follower Operation
Timing for Velocity Correction
If velocity of the follower pulse is faster or slower than expected for velocity correction,
the master and follower axes may not stop simultaneously. If the follower axis velocity
is too fast, the follower may stop before the master axis. If the follower axis velocity is
too slow, it may stop after the master axis.
Expected operation
Slave axis velocity faster than expected.
Master axis
Master axis
Follower axis (Gear ratio 1/2)
Follower axis
Follower
stops before
the master
[t]
[t]
Follower axis velocity slower than expected
Master axis
Follower axis
Master stops
before the
follower
[t]
If the pulse output from the follower axis does not reach a steady rate after velocity
correction, the master and follower axes may not stop simultaneously.
Expected operation
Follower axis velocity is corrected lower.
Master axis
Master axis
Follower axis
(Gear ratio 1/4)
Follower axis
[t]
Pulse is output at initial
velocity.
Does not reach a
steady rate
[t]
Error 54hex occurs and Follower operation is cancelled if the difference between the
stopping times of the master axis and the follower exceeds either 50ms or the time to
output one pulse at the initial velocity of the axis (whichever is longer).
Error 5Fhex occurs if the axis is switched to the next target velocity before reaching its
current target velocity. The follower axis will not be able to follow the master as
expected.
8-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Axis Stops in Manual or Auto Mode (Speed Control)
In Manual Mode and speed-controlled Auto Mode, the master and follower axis may
not stop simultaneously. In that case, the module will always stop the master axis
before stopping the follower axis. The delay between stopping the master axis and
stopping the follower axis depends on whether the stop is a Fast (emergency) stop or
a Normal (decelerated) stop. For a Fast stop, the module begins stopping the follower
axis 14µs after the master axis. For a Normal stop, the module begins stopping the
follower axis 31µs after the master axis.
Auto Mode (Position Control)
In Auto mode (position control), if the master axis executes a profile that does not
reach its target velocity, the follower axis will operate as shown below.
Target velocity
Expected behavior
Actual operation (Master axis)
Actual operation
(Follower axis)
Time lag is generated
2
The minimum adjusted acceleration and deceleration rate for a follower axis is 61pps .
When the operation includes a Gear Ratio, if the resulting acceleration and
2
2
deceleration for the follower axis would be less than 61pps , the module uses 61pps
as its acceleration or deceleration rate, instead of the calculated value. As a result, the
follower does not follow the master axis as expected. In the example below, the
acceleration/deceleration of the follower axis based on the Gear Ratio would be
2
40pps . Because the module enforces a minimum acceleration and deceleration rate of
2
61pps , the follower axis reaches the steady speed before the master axis and also
stops before the master axis.
Expected operation
Actual operation (Manual mode)
STOP
Master
Master axis
Follower axis
Follower reaches target
speed before the
master axis.
Follower axis
[t]
2
40 pps
2
61 pps
[t]
61 pps
START
2
Follower stops before master axis
2
The maximum acceleration or deceleration rate is 50M pps . If the selected values for
acceleration or deceleration and Gear Ratio would result in an acceleration or
2
deceleration rate that exceeds 50M pps , the module adjusts the acceleration or
2
deceleration to 50M pps , and the follower axis does not follow the master as
expected.
GFK-2471A
Chapter 8 Follower Operation
8-13
8
Changing Directly from Acceleration to Deceleration
Processing delays occur when an axis goes directly from acceleration to deceleration
or the reverse. In Follower mode, there is an additional processing delay (described
previously) between a speed change on the master and the corresponding speed
change on the follower axis.
In the case of a profile like the one shown below, which repeatedly switches between
acceleration and deceleration, the processing delays would be incremental. These
processing delays can result in the follower axis being unable to follow the master,
causing error 54hex (Slave axis follower failure).
[V]
[t]
.
When the speed changes during a Follower operation, the module processes the
speed change for the master before the speed change for the follower axis. The delay
is only in the velocity change timing as shown below. There is no effect on the stop
position.
[V]
[V]
Master
The time to reach a steady velocity
depends on the rates of acceleration
and deceleration
Follower
[t]
Velocity
change
[t]
8-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Effects of External Inputs on Follower Operations
When the axis is set up as a follower, its FE and HSR inputs are not used. Even if
these external inputs are enabled in the axis Common Parameters, they do not affect
operation of a follower axis.
The effects of external inputs during Follower operation are described below
COIN x
LS
FO x
RO x
FE x
HSR x
DR x
ES x
OFF
ON/OFF
OFF
OFF
ON
ON/OFF
OFF
OFF
ERR
Disable
ERR
ERR
Disable
Disable
ERR
ERR
Positioning Complete Input
The Positioning Complete (COIN) input of the master axis must be On to start Follower
operation.
The master axis can output a pulse if the COIN input of the follower is Off.
The follower axis checks its COIN input. When the COIN input is Off after the follower
operation, the follower axis waits for it to come On.
In the illustration below, follower axis B does not perform the second profile because
its COIN input is not On.
A-axis
[t]
B-axis
B-axis COIN
GFK-2471A
Chapter 8 Follower Operation
8-15
8
Forward or Reverse Overtravel Input
If the Overtravel inputs (FO and RO) are enabled in the Common Parameters, an
emergency stop or decelerated stop occurs (as set up using Common Parameter 3) if
the overtravel input turns Off during Follower operation.
The master axis keeps operating if the overtravel occurs on the slave axis:
Follower
source
CW
CCW
CW
CCW
FO_B
Both the master and the follower stop if an overtravel occurs on the Master axis:
Follower
source
CW
CCW
FO_A
CW
CCW
Drive Ready Input
If the Drive Ready (DR) input of the follower axis is enabled, the follower axis will not
start if its DR input is Off. If DR turns Off during Follower operation, the follower axis
stops immediately. (The master axis keeps operating even if the slave axis stops
operating.) If the DR input of the master axis turns Off during a Follower operation,
both the master and the follower axis stop.
8-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Emergency Stop Input
If the Emergency Stop (ES) ES input of the master axis turns Off during Follower
operation, both axes stop. Only the master axis has an error.
If the ES input of the follower axis turns off during Follower operation, the follower axis
stops (emergency stop or a decelerated stop, as set up). The master may keep
operating.
Follower
source
CW
CCW
CW
CCW
DR_B
ES_B
Feedrate Override Input
During Follower operation, only the master’s Feedrate Override (FE) input is effective.
If the follower’s FE input turns On during Follower operation, it has no effect.
Follower
source
CW
CCW
Invalid
CW
CCW
FE_B
GFK-2471A
Chapter 8 Follower Operation
8-17
8
High-Speed Registration Input
The High-speed Registration (HSR) input of the master axis is effective during Follower
operation.
The follower’s HSR input has no effect on its operation.
Follower
source
CW
CCW
Invalid
CW
CCW
HSR_B
Jog Forward / Jog Reverse Inputs
In Manual Mode, the follower axis reflects the JF and JR inputs of the master axis. The
follower axis ignores its own JF or JR inputs.
JF 1
A-axis
[V]
[t]
JF 2
B-axis
[V]
8-18
[t]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Setting Up, Controlling, and Monitoring Follower Operation
This section is a quick reference to setting up, controlling and monitoring Follower
Operation. Additional setup, control, and monitoring will be needed to complete an
application.
After being set up as a follower, an axis can accept only a cancellation or stop
command. Sending any other command to a follower axis causes an error. For
example, Execute Feedrate Override, Cancel Feedrate Override, Registration Distance
Mode, and Speed Change cannot be executed by an axis that is operating as a
follower. If the module receives one of these commands for a follower axis, the module
returns error 59hex (“Unable to execute command”).
Cancelling follower operation ends the operation for the follower axis. Whether the
follower axis performs a decelerated or immediate stop depends on the method
chosen for Emergency Stop.
If an abnormal level error occurs on the follower axis, operation is impossible until the
error is cleared. In that case, Follower mode is cancelled. Follower mode can only be
enabled with the axis is in Idle state.
An axis can be set to follower mode even if it has an existing error condition. However,
the error condition must be corrected and the error cleared before the axis can begin to
perform the follower operation. If the master axis moves before the slave axis error is
cleared, follower operation is cancelled.
Follower Operation Summary: MicroMotion Setup Tool
The MicroMotion Setup Tool (see chapter 12) provides a convenient interface for
setting up, controlling, and monitoring all features of the MicroMotion Module. The
window shown below is used to set up the Gear Ratio parameter for Follower
operation. When the tool is online to the MicroMotion Module, the Current Value
column shows the parameter value in the module.
Details of selecting a Gear Ratio are explained earlier in this chapter. The Gear Ratio
is a pair of values such as 1: 2 or 4:5. The Setting Value fields are used to supply new
Gear Ratio values to the module. When the Setup Tool is online to the module, the
Current Value fields show the values presently being used.
The following icon on the Monitoring Screen controls Follower operation:
Set/Cancel Follower Mode operation of the axis.
GFK-2471A
Chapter 8 Follower Operation
8-19
8
Follower Operation Summary: VersaMax Micro PLC CPU
This section is a summary of follower operation information for a VersaMax Micro PLC
CPU (see chapter 14 for more information).
Monitoring the Axis Standby Bit
To follow the master in Auto Mode, an axis must be in standby mode (the axis STBY
bit is on). The On/Off States of the Standby bit and LED are different for the master
and follower axis as explained in the earlier section Standby/Run Status of the
Follower Axis.
The status of the axis Standby bits is returned in the first word of Input Status Data that
the VersaMax Micro PLC CPU receives from the module in each scan of the I/O.
Axis A is in standby mode = 1
Axis B is in standby mode = 1
15
Word 1
Word 2
HS
14
13
12
11
10
9
8
7
6
INIT RUN1 STB1 ERR1 RUN2 STB2 ERR2
Axis A External Input States
5
4
3
2
1
0
Used by system
Axis B External Input States
Word 3
Word 4
Word 5
Format depends on
data that was requested
Word 6
Word 7
Word 8
8-20
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
8
Commands for Follower Operation
A VersaMax Micro PLC CPU can use the following commands to set up, initate, and
monitor Follower Operation (see chapter 14 for more information)
Command
Operation
Set Up Read
73
Command for Follower Operation Parameters
C3
Gear Ratio for Follower operation. See below.
Commands to Perform Follower Operation
21
Enable Follower Operation
22
Cancel Follower Operation
Command to Monitor Follower Operation Status
Bits 15-12 hex value indicates operation:
hex
0
D
E
A3
Follower Operation Status
Idle
Follower mode: operating
Follower Mode: stopped
Specifying a Gear Ratio for Follower Operation
Details of selecting a Gear Ratio are explained earlier in this chapter. The Gear Ratio
is a pair of values such as 1:2 or 4:5. When written by the PLC CPU using command
73, these values are supplied in Word 2 and Word 3 for Axis A, and in Words 4 and 5
for Axis B. For example, for a Gear Ratio of 1:2, write the value 1 in the first axis output
data word, and the value 2 in the second axis data word. Command 73 can write
follower mode Gear Ratio values for both axes at the same time. For both axes, the
Gear Ratio would take effect only when that axis was later put into Follower mode.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A = 1
Execute command on Axis B = 1
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
6
5
BNK RUN
Word 2
Axis A Gear Ratio value (example: 1)
Word 3
Axis A Gear Ratio value (example: 2)
Word 4
Axis B Gear Ratio value (example: 4)
Word 5
Axis B Gear Ratio value (example: 5)
4
3
2
1
0
Command Number
Word 6
Not used
Word 7
Word 8
GFK-2471A
(Words 6 to 8 hold their previous values)
Chapter 8 Follower Operation
8-21
8
Follower Operation Summary: Host Controller
A host controller can use the MODBUS data listed below for follower operations (see
chapter 15).
Monitoring the Standby Bit
To follow the master in Auto Mode, an axis must be in standby mode (the axis STBY
bit is on). The On/Off States of the Standby bit and LED are different for the master
and follower axis as explained in the section Standby/Run Status of the Follower Axis.
Commands for Follower Operation
A host controller can use the following MODBUS data for Follower Operation (see
chapter 15):
Axis A
Axis B
Description
Holding Registers for Follower Operation Parameters: Lower word in lower
register, also
Input Status Registers to Read Follower Operation Parameters: Lower word in
lower register
132
133
232
233
Gear Ratio for Follower operation: Master value
Gear Ratio for Follower operation: Follower value
Coils to Write All Follower Operation Parameters to Holding Registers
220
221
Set (write) All Common Parameters to Holding Registers
Coils to Set for Perform Follower Operation Operations
280
283
Follower operation, enable/cancel
Input Status Bits for Auto Mode
13
10
Axis in Standby mode = 1.
Input Status Registers to Monitor Follower Operation Status
11
26
Bits 15-12 hex value indicates operation:
hex Follower Operation Status
0
Idle
0
Idle
D
Follower mode: operating
Specifying a Gear Ratio for Follower Operation
Details of selecting a Gear Ratio are explained earlier in this chapter. The Gear Ratio
is a pair of values such as [1 (master) : 2 (follower)] or [4 (master) : 5 (follower)]. The
PLC CPU uses Holding Registers 132 and 133 (see above) to write the Gear Ratio
values for Axis A and Holding Registers 232 and 233 to write the Gear Ratio value for
Axis B. For example, if the Gear Ratio for Axis A is 1:2, write 1 to Holding Register 132
and 2 to Holding Register 133. Input Registers 132/133 and 232/233 can be used to
read the Gear Ratio values currently stored by the MicroMotion Module.
8-22
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Windowing
9
This chapter describes the Windowing feature of MicroMotion Modules
IC200UMM002/102-BB or later.
▪
Overview of Windowing
▪
Parameters for Windowing
▪
The Windowing Base Point
▪
The Windowing Interval
▪
Band (CW and CCW)
▪
Velocity Override Ratio
▪
Choosing Windowing Parameters Correctly
▪
Starting Position for the Move
▪
Using the High-Speed Registration Input in Windowing
▪
Interval Auto-Adjustment
▪
Enabling / Disabling the HSR Input
▪
Time Delay for the HSR Input
▪
Windowing for a Rotary Axis
▪
Windowing Operation in Manual Mode
▪
Windowing Operation in Auto Mode
▪
Windowing and Follower Mode
▪
Effects of External Inputs on Windowing
▪
Setting Up, Monitoring, and Controlling Windowing
GFK-2471A
▪
Windowing Summary: MicroMotion Setup Tool
▪
Windowing Summary: VersaMax Micro PLC CPU
▪
Windowing Summary: Host Controller
9-1
9
Overview of Windowing
Windowing operation coordinates the position of an axis with a registration input that
occurs at regular intervals.
For example, a conveyor might be used to move packaging material that must be
sealed into individual units. A sensor connected to the MicroMotion Module’s HighSpeed Registration (HSR) input would be used to detect registration marks on the
packaging material. The MicroMotion Module expects the registration input to occur at
regular intervals (configured as the Windowing interval).
Registration
Input
Registration
Input
Velocity
Registration
Input
Position
0
Interval
Interval
Interval
To allow for variation, a window area is defined around each expected registration
input as illustrated below. If the registration input goes On within this window area, it is
considered valid. If the registration input goes On outside the defined range, the
MicroMotion Module ignores it.
Window
Velocity
Window
0
Position
Interval
Interval
If the axis is moving very rapidly, the MicroMotion Module can optionally decrease
motor speed within the window area for greater accuracy using the Velocity Override
parameter.
Windowing can be enabled during Auto Mode or Manual Mode, or when the axis is in
its idle state. The axis can be in either Run or Stop mode.
Monitoring Windowing
During Windowing operation, the axis WND bit is On when the axis is within the
designated window area (CW Band + CCW Band). The state of the WND bit can be
monitored using the MicroMotion Setup Tool, or from the VersaMax Micro PLC CPU or
host controller. For details, see the section Setting Up, Monitoring, and Controlling
Windowing at the end of this chapter.
9-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Parameters of Windowing
Windowing is set up using the five Common Parameters described in this section:
▪
Base Point, the starting point for Windowing.
▪
Interval, the overall length of a complete Windowing cycle.
▪
Band CW, the width from the edge of the window to the interval position, in a
clockwise direction.
▪
Band CCW, the width from the edge of the window to the interval position in a
counterclockwise direction, and
▪
Velocity Override Ratio, optional decelerated axis velocity during the window.
The illustrations below represent the relationship between the Base Point, the Interval,
the Window, the CW Band, the CCW Band, and the Velocity Override Ratio.
In the first example, the Base Point is 0.
Velocity
Window
Base Point
Velocity
Override Ratio
0
Band
(CW
direction)
Band
(CCW
direction)
Band
(CCW
direction)
Interval
Position
Interval
Position
Interval
In the next example, the Base Point is a value that is set up in the Common
Parameters.
Velocity
Window
Velocity
Override Ratio
0
Band
(CW
direction)
Position
Band
(CCW
direction)
Interval
Interval
For these illustrations, the windows are shown relatively close together. Ordinarily,
windows would occur farther apart, and the axis would travel at maximum velocity for a
longer period.
GFK-2471A
Chapter 9 Windowing
9-3
9
The Windowing Base Point
The Base Point is the starting point for Windowing. The default is zero (pulses). The
Base Point value can be changed using Common Parameter 34. When defining the
Base Point for Windowing:
▪
The distance from the Base Point to [interval + CW width] must not exceed the
Lower Position Limit.
▪
The distance from the Base Point to [Interval + CCW width] must not exceed the
Upper Position Limit.
The Windowing Interval
The Interval is the overall length of one complete Windowing cycle. The Windowing
Interval (Common Parameter 30) must be more than the CW Range (Common
Parameter 31) plus the CCW Range (Common Parameter 32).
The position increments from 0 (illustrated below), or from the Base Point position. The
default interval value is 20000 [pulses]. For an interval of 1000, if the Base Point were
0, instances would occur at 1000, 2000, 3000, and 4000 pulses, and so on.
W indow
CCW
Band
CW
Band
CCW
Band
Velocity
CW
Band
W indow
0
Position
Interval
Interval
Band (CW and CCW)
The total length of the window is the sum of the CW Band and CCW Band length, as
shown above. The CW Band and CCW Band are set up independently, and can be
different lengths.
The CW Band is the width from the edge of the window to the interval position in a
clockwise direction.. The default CW Band is 2000 [pulses].
The CCW Band is the width from the edge of the window to the interval position in a
counterclockwise direction. The default CCW Band is 2000 [pulses].
9-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Velocity Override Ratio
If the axis is moving very quickly, processing the registration input may introduce a
slight delay. The faster the axis is moving, the greater the potential for error. If the
application requires greater accuracy, the Velocity Override parameter can be used to
lower the velocity of the axis within the window. Lowering the velocity can
proportionately reduce the error.
Velocity
The Velocity Override parameter is specified as a percent of the current velocity. For
example, to lower the axis velocity to 70% of the current velocity, the value 70 would
be used as the Velocity Override parameter. The default Velocity Override is 100 (no
change). The lowest Velocity Override that can be used is the Initial Velocity of the
current axis mode (Manual Mode or Auto Mode). If the specified Velocity Override ratio
is lower than the Initial Velocity of the operating mode (Manual or Auto Mode), the
Initial Velocity rate will be used inside the window. For example, if the velocity is 5kpps,
the Initial Velocity is 1k pps, and the Velocity Override is set to 10(%), the axis
decelerates within the window to 1k pps and not to 0.5k pps as required by the Velocity
Override Ratio.
70% Rate
Position
0
Interval
Interval
If the Velocity Override parameter is used, the axis begins to decelerate after crossing
the CW Band edge of the window. It continues to decelerate until it reaches the
selected Rate (%). The axis maintains the reduced velocity to the end of the window.
Upon reaching the end of the CCW band limit, the axis accelerates to its maximum
velocity again. Because the module checks at 500µs intervals to determine whether or
not the axis is in the window area, the start of deceleration or acceleration may be
delayed up to 500µs.
Acceleration Rate and Deceleration Rate in Manual Mode
In Manual Mode, if the axis speed is lowered for Windowing, the axis decelerates and
accelerates using the Acceleration Rate and Deceleration Rate that were set up for
Manual Mode.
Acceleration Rate and Deceleration Rate in Auto Mode
In Auto Mode, if the axis speed is lowered for Windowing, the axis decelerates and
accelerates using the Acceleration Rate and Deceleration Rate of the profile that is
currently being executed.
GFK-2471A
Chapter 9 Windowing
9-5
9
Choosing Windowing Parameters Correctly
When Windowing is set to Enable, the module checks the common parameters for
Windowing (parameters 30 to 34). Errors 64hex to 68hex indicate incorrect Windowing
parameters. Incorrect Windowing parameters are not reported as errors while
Windowing is set to Disabled. If error 64hex to 68hex occurs when Windowing is set to
Enable, the axis drives but the Windowing function does not operate.
The module checks every 500µs to see whether the current axis position is within the
window area. Therefore, the CW width, CCW width, and Velocity must be set up so
that the window area is at least 500µs in duration.
When setting up a Velocity Override Ratio for Windowing, it is important to make sure
that the axis will reach the Velocity Override rate before it leaves the window, and that
the axis will return to its Final Velocity before it reaches the next window area as
illustrated below.
Final Velocity
[V]
Velocity
Override
Rate
[t]
Incorrect Windowing Configurations
If the window area is too short, the axis may not have enough time to reach its
specified Velocity Override Ratio:
[V]
[t]
9-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
If both the windows and the Interval are too short, the axis requires multiple windows to
reach its Velocity Override Ratio, and the axis is not able to return to its Final Velocity
between windows:
[V]
Override ratio
[t]
In the above incorrect Windowing configuration, if the Acceleration Rate is slower than
the Deceleration Rate, in an extreme case the axis can keep slowly decelerating until it
becomes constant at the Initial Velocity set up in its Common Parameters. This is
represented below.
[V]
Actual
behavior
Expected
behavior
Initial velocity
Constant
[t]
Conversely, if the Deceleration Rate is slower than the Acceleration Rate, in an
extreme case the axis can keep slowly accelerating until eventually becomes constant
at the Upper Velocity Limit set up in its Common Parameters.
[V]
Constant
Upper limit velocity
Actual
behavior
Expected
behavior
[t]
When setting up the axis parameters for Windowing, it is important to make sure that
the axis will reach the Velocity Override rate before it leaves the window, and that the
axis will return to its Final Velocity before it reaches the next window area.
GFK-2471A
Chapter 9 Windowing
9-7
9
Starting Position for Windowing
The initial operation of an axis in Windowing depends on the starting position of the move.
Starting Position Within a Window
If the starting position of the axis is within a window area as shown below, the axis
speed adjusts to reach the velocity after override (Velocity Override is optional).
CW width
CCW width
V
Velocity Override
Ratio
CW
CCW
Interval
Window area
WND bit
Starting Position Outside a Window
If the move starts outside the window area and the axis speed is below the target velocity
(i.e. the velocity after override while entering the window area), the axis continues to
accelerate in the window area to reach the target velocity (velocity after override).
CW width
V
CCW width
Velocity Override
Ratio
CW
Interval
CCW
Window area
WND bit
Alternatively, when the move starts outside the window area and the axis speed
exceeds the velocity override speed before the position reaches the window area, the
axis decelerates in the window area to reach the velocity override speed.
CW width
V
CCW width
Velocity Override
Ratio
CW
Interval
CCW
Window area
WND bit
9-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Using the High-Speed Registration Input in Windowing
The same High-Speed Registration (HSR) input used for Registration Moves can also
be used to monitor and adjust cycle generation in Windowing. When used for
Windowing, the HSR input must be connected to a sensor that should turn On during
each Interval. The MicroMotion module uses the input signal from the sensor to adjust
the Interval used for Windowing as needed.
Enabling / Disabling the HSR Input
The High-Speed Registration input can be enabled or disabled from the Setup Tool, or
by command from the Micro PLC CPU or host controller. Enabling or disabling the
HSR input only affects its use for High-Speed Registration of the axis. As long as the
HSR input is providing a signal to the MicroMotion module, it is used during
Windowing.
The examples that follow in this section compare Windowing operation with the HSR
input enabled or disabled.
Operation with Windowing Disabled and HSR Enabled
HSR
Velocity
0
Position
Registration move distance
Windowing Operation with the HSR Input Disabled
If the HSR Input is set to disabled, the input is used only to auto-tune the Windowing
interval. It is not used for High-speed Registration.
HSR
Rate < 100%
Velocity
0
GFK-2471A
Auto-tuning
Chapter 9 Windowing
Position
9-9
9
Windowing Operation with the HSR Input Enabled
In Windowing, if the High-Speed Registration Input is set to enabled, the Registration
Distance Move and the Windowing interval for autotuning are both triggered by the
High-Speed Registration input turning On.
HSR
Rate < 100%
Velocity
0
Position
Auto-tuning
Registration move distance
With Windowing enabled, a Registration Distance Move is not performed if the HSR
input turns On outside the Window. If the HSR input goes On more than once within a
window area, the additional instances are ignored.
Valid
Valid
Invalid
HSR
Velocity
0
Position
Registration move distance
However, when HSR is turned On in the next Windowing area as the axis is performing
a Registration Distance Move, the move distance is extended.
Invalid
Valid
Invalid
Valid
HSR
Velocity
Move distance is
extended
0
9-10
Registration move distance
VersaMax® Micro PLC MicroMotion Modules – December, 2008
Position
GFK-2471A
9
Time Delay for High-Speed Registration
After the High-Speed Registration input goes On, the module changes the move
distance. This results in a positioning delay of approximately 62µs, as represented in
the illustration below.
HSR
Interrupt
Module
Windowing
range appraisal
20µs
Delay by H/W
Change of the number of output pulses
40µs
2µs
Velocity
Registration move distance
GFK-2471A
Chapter 9 Windowing
t
9-11
9
Interval Auto-Adjustment
At startup, the Windowing function uses the Interval value that has been assigned in its
Common Parameters. If the HSR input goes On within that Interval, the module adjusts
the Interval.
In the example below, the HSR input goes On at 20 pulses after the end of an Interval
(dashed line), resulting in a mis-alignment of 20 pulses. The module adds the number
of mis-aligned pulses to the specified Interval length. The module then uses the
resulting new length (1020 pulses) for the next Interval. The High-Speed Registration
input On signal should then coincide with the start of the next Interval.
HSR
Misalignment (20 pulses)
Setting Interval (1000 pulses)
Position
Interval after adjustment (1020 pulses)
The Interval returns to the value set in the Common Parameters:
A. Immediately after powerup.
B. If the Windowing function is re-enabled.
C. If the module receives a new Interval in the Common Parameters.
After the axis stops once, the module recalculates the Interval from the Base Point by
using the obtained real interval value.
Windowing Interval Adjustment Examples
The example in this section shows how interval correction occurs during Windowing.
For this example:
▪
▪
▪
▪
▪
▪
▪
▪
▪
9-12
Motion type (Common Parameter 1 bit 9) = Linear
Windowing Interval (Common Parameter 30) = 150000 pulses
Windowing CW Band (Common Parameter 31) = 50000 pulses
Windowing Band in CCW (Common Parameter 32) = 40000 pulses
Velocity override (Common Parameter 33) = 60%
Windowing base point (Common Parameter 34) = 0 pulses.
Manual operation velocity (Common Parameter 12) = 10000 pps
Manual operation initial velocity (Common Parameter 13) = 1000 pps
All other parameters are default.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Windowing Operation without HSR Input or Interval Correction
Velocity
The illustration below shows the Windowing operation without the High-Speed
Registration (HSR) input being triggered. Here, the interval 150,000 is maintained
between each window area.
Operational Setting
for Velocity
CW Band Area
= 50,000 pulses
CCW Band Area
= 40,000 pulses
Reduced
Velocity
Interval = 150,000
Interval = 150,000
Interval = 150,000
WND OFF
Position = 640,000
Interval
Position = 600,000
WND ON
Position = 550,000
Interval
Position = 450,000
WND ON
Position = 400,000
Interval
Position = 300,000
WND ON
Position = 250,000
WND OFF
Position = 190,000
Interval
Position = 150,000
WND ON
Position = 100,000
WND OFF
Position = 40,000
Axis Start
Position = 0
(Common
Parameter
44)
Interval = 150,000
Windowing Operation with HSR Input and Interval Correction
The next illustration shows operation when the HSR input is triggered inside the
window area. Motion must be restarted when the HSR input stops the axis.
In this example, first HSR is triggered at 130000 (inside the CW Band area). The new
Interval (for the next window cycle) = 150000-[150000 (Expected HSR) - 13000 (Actual
HSR)] = 130000.
Corrected Interval = 130,000
WND ON
Position = 650,000
HSR ON
Position = 68007
Interval
Position = 700,000
Interval
Position = 530,000
HSR ON
Position = 550,000
WND ON
Position = 480,000
HSR ON
Position = 400,003
Interval
Position = 410,000
WND ON
Position = 360,000
Interval
Position = 260,000
HSR ON
Position = 270,000
WND ON
Position = 210,000
HSR ON
Position 130,004
Interval
Position = 150,000
WND ON
Position = 100,000
Axis Start
Position = 0
Velocity
The next window start position = 130000 (HSR trigged Position) + 130000 (Corrected
interval) - 5000 (CW band) = 210000.
Corrected Interval = 140,000 Corrected Interval = 130,000
Corrected Interval = 150,000
With the HSR input and Interval correction:
▪
GFK-2471A
The Interval is corrected based on the HSR triggered position.
Chapter 9 Windowing
9-13
9
▪
The axis stops once HSR is triggered inside window after a registration move
distance set in Common Parameter 24. (In this case, the distance is 0).
▪
Motion must be restarted to continue the operation.
▪
The corrected interval of the previous cycle is used for the next window area.
▪
Window area (CW band+ CCW band) remains unchanged throughout the
operation unless changed in the Common Parameters.
▪
The WND bit status is maintained as long as the axis area is inside the window
area, regardless of axis is in run or stop.
▪
The corrected interval returns to the set value only if windowing is re-enabled or
motion module is power-cycled, or the windowing interval parameter is set again.
Interval Calculation and Next Window Start Position
If HSR is triggered inside the CCW band area the Corrected Interval = Interval in the
previous window cycle +Difference between HSR triggered position and the interval
position of window (expected HSR trigger position)
If HSR is triggered inside the CW band area,
9-14
▪
Corrected Interval = Interval in the previous window cycle - Difference between
HSR triggered position and the interval position of window (expected HSR trigger
position)
▪
Next Window start position = HSR triggered position + Corrected interval-CW Band
area (for forward motion)
▪
Next Window start position = HSR triggered position + Corrected interval-CCW
Band area (for reverse motion)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Windowing for a Rotary Axis
To generate the window area once per rotation, set the parameters as shown in the
following example. In the example, the windowing area occurs every 240 degrees per
single rotation. The number of pulses per rotation is 32768, so the upper position limit
is 32768.
1. The Windowing Interval (Common Parameter 30) is set to 32768 (number of
pulses per rotation).
2. The Windowing Base Point (Common Parameter 34) is set to 21845 (240
degrees).
0
285
240
HSR ON
195
180
Interval (360)
[V]
Roll over
0
GFK-2471A
240
0
Chapter 9 Windowing
Roll over
240
0
240
[Position]
9-15
9
Windowing Operation in Manual Mode
This section describes Windowing operation in Manual Mode. The WND can be
monitored using the Setup Tool, or from the Micro PLC CPU or host controller. See
Setting Up, Controlling, and Monitoring Windowing later in this chapter.
Windowing Operation during Inching
During an Inching move, an axis moves at its specified Initial Velocity. If Windowing is
enabled and the axis enters the window area, the axis continues moving at the same
velocity. Velocity Override is not used for Inching. The axis WND bit is On if the
stopping position is within the window, even if the axis stops.
Window area
[t]
WND bit
Windowing Operation during Inching + Jog
Inching plus Jog is considered to be a continuous operation, so the axis WND bit
remains On when the axis stops between the Inching move and the Jog in Manual
Mode. In the example below, a Velocity Override Ratio is set up for Windowing, so the
decelerated rate is used for the Jog portions of the move.
Window area
Inching
Window area
Jog
[t]
WND bit
Remains On when the axis stops
Windowing Operation during Jogging
The axis WND bit does not go Off if a Jog ends within the Window area. In this
example, a Velocity Override Ratio is set up for Windowing. In the first window shown
below, the axis stops and restarts.
Window area
t
WND bit
Does not turn Off if the axis stops
9-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Windowing Operation in Auto Mode
During execution of a Sequence Table, operation of the axis is considered to be
continuous. The axis WND bit remains On if the axis stops during the cycle, as shown
in the examples below. Operation of Windowing at the end of the Sequence Table
depends on whether the Sequence Table has been set up for Single or Continuous
operation, as explained below.
Single Cycle of a Sequence Table
In Single Cycle operation, if the Sequence Table executes once, then the axis stops
inside the window area, WND bit remains On even with the axis stopped. If Single
Cycle execution is started again from the same positon, the WND bit stays On as long
as the axis is in the Window area. The state of the WND bit reflects the axis position
regardless of the current axis mode.
1 cycle
Window area
[t]
WND bit
Continuous Cycles of a Sequence Table
In Continuous Cycle operation, the Sequence Table executes repeatedly until the
module receives a command to stop. Operation of the axis is considered to be
continuous across multiple cycles of the Sequence Table, as shown below.
st
1 time
2
nd
time
Window area
[t]
WND bit
GFK-2471A
Chapter 9 Windowing
9-17
9
Windowing and Follower Mode
If Windowing is enabled while the axis is in the idle state and Follower (slave)
operation is then commanded, Windowing is disabled (error code 68hex). When
Windowing is enabled on an axis for which Follower operation is already enabled,
Windowing is not set (error code 60hex).
Windowing is not set.
Enable
Windowing
Disable
Enable
Follower
Disable
Error : H60
Status
time
Module cancels Windowing.
Enable
Windowing
Disable
Enable
Follower
Status
Disable
Error: H68 (Warning)
time
9-18
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Effects of External Inputs on Windowing
The effects of external inputs during Windowing are described below.
Signal
COIN
LS
FO
RO
FE
HSR
DR
ES
On/Off State
ON/OFF
ON/OFF
OFF
OFF
ON
ON/OFF
OFF
OFF
Result
Enable
at
Startup
Disable
ERR
ERR
Enable
Enable
ERR
ERR
▪
The operation does not start if Emergency Stop (ES) is Off. The operation does not
start until the error is cleared after turning On the input signal ES.
▪
If the Emergency Stop (ES) input turns Off during pulse output, a fast stop or
normal stop (as set up) occurs.
▪
If the Overtravel inputs (FO and RO) are enabled in the Common Parameters, an
emergency stop or decelerated stop occurs if the overtravel input turns Off during
pulse output.
▪
If the Drive OK/Ready (DR) input is enabled in the Common Parameters, an
emergency stop occurs if DR turns Off during pulse output.
▪
If the Feedrate Override (FE) input is enabled in the Common Parameters and the
Velocity Override Ratio is less than 100%, the velocity inside the Window area is
[“Velocity” x “Velocity Override Ratio” x “FE Ratio”]. For example, in the illustration
below FE Ratio is 60% and Velocity Override Ratio is 50%.
FE
V
40%
50%
70%
40%
Window Area
GFK-2471A
Chapter 9 Windowing
Window Area
t
9-19
9
Setting Up, Controlling, and Monitoring Windowing
This section is a quick reference to setting up, controlling and monitoring Windowing
operations. Additional setup, control, and monitoring will be needed to complete an
application.
Enabling and Disabling Windowing
Windowing can be enabled when an axis is idle, running or stopped, in either Auto
Mode or Manual Mode. Windowing cannot be enabled in Homing Mode.
Windowing is not enabled if inappropriate parameters have been selected (see error
codes 64 to 68hex in chapter 16). The axis can be operated even if error occurs
because the error level is the “Warning” in this case. If the axis is operation, its
operation continues.
When axis that is already in Windowing mode is idle, if Follower operation or Homing is
commanded, or the current output position is rewritten, Windowing is cancelled (error
code 68hex).
The enable/disable Windowing setting can be saved in the module’s backup memory
using the Axis Information backup command.
9-20
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Windowing Summary: MicroMotion Setup Tool
The MicroMotion Setup Tool (see chapter 12) provides a convenient interface for
setting up, controlling, and monitoring all features of the MicroMotion Module. The
window shown below is used to set up the parameters for Windowing. When the tool is
online to the MicroMotion Module, the Current Value column shows the parameter
value in the module.
During operation, the Input Signal display shows whether the WND or HSR input is On:
WND
The following icon on the Monitoring Screen controls Windowing operation:
Set/Cancel Windowing operation
GFK-2471A
Chapter 9 Windowing
9-21
9
Windowing Summary: VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU can use the following commands to set up, initate, and
monitor Windowing (see chapter 14 for more information)
Command
Set Up Read
Operation
Commands to Set Windowing Parameters
63
B3
7E
CE
Common Parameter Word 3
Bit 0
Enable HSR Input = 0, disable = 1
Interval for Windowing
7F
80
CF
D0
CW Band for Windowing
CCW Band for Windowing
81
82
D1
D2
Velocity Override for Windowing
Windowing Base Point
9E
Write axis operating information to backup memory in the module
Set Up Read
Commands for Windowing Operations
27
Windowing Enable
28
Windowing Cancel
Commands to Monitor Windowing Status
A3
Return Axis Status. Bit 4: WND bit. 1 = Master axis has moved into the
window area. This bit does NOT turn On for a follower axis that is
within the window area.
If Windowing is enabled when the axis is in the idle state, then Follower operation, or
Homing is commanded, or if the current position is rewritten on command, Windowing
is disabled.
Monitoring the WND Bit on Command
As shown above, the PLC CPU can use command A3 to return the Axis Status data.
Bit 4 of the Axis Status Data is the WND bit. It indicates whether or not the axis within
the window area. If Follower operation is being used, bit 4 of the Input Status Data only
reflects the position of a master axis, not a follower axis.
9-22
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
9
Windowing Summary: Host Controller
A host controller can use the following MODBUS data for Windowing (see chapter 15):
Axis A
Axis B
Description
Holding Registers for Windowing Parameters: Lower word in lower register, also
Input Status Registers to Read Windowing Parameters: Lower word in lower register
Common Parameter Word 3
103
203
158-159
258-259
Interval for Windowing
160-161
260-261
CW Band for Windowing
162-163
262-263
CCW Band for Windowing
164
264
165-166
265-266
Bit 0
Enable HSR Input = 0, disable = 1
Velocity Override for Windowing
Windowing Base Point
Coils to Write All Windowing Parameters to Holding Registers
220
221
Set (write) All Common Parameters to Holding Registers
Coils to Set for Perform Windowing Operations
500
501
Enable Windowing = 1, Cancel Windowing = 0
Input Status Bits to Monitor Windowing Status
500
501
Windowing enabled = 1, disabled = 0
Input Status Registers to Monitor Windowing Status
11
GFK-2471A
26
Return Axis Status. Bit 4: 1 = Master axis has moved into the
Windowing area. This bit does NOT turn on for a follower axis that is
within the window area.
Chapter 9 Windowing
9-23
9
9-24
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
External Inputs
10
This chapter describes the effects of external input signals on the operation of a
MicroMotion module.
▪
External Inputs of the MicroMotion Module
▪
Marker Input
▪
High-Speed Registration Input
▪
Positioning Complete Input
▪
Home Position Limit Input
▪
Overtravel Inputs
▪
Feedrate Override Input
▪
Jog Forward and Jog Reverse Inputs
▪
Drive OK / Ready Input
▪
Emergency Stop Input
▪
Setting Up and Monitoring External Inputs
GFK-2471A
▪
Using the MicroMotion Setup Tool
▪
Using a VersaMax Micro PLC CPU
▪
Using a Host Controller
10-1
10
External Inputs of the MicroMotion Module
The external inputs described in this chapter correspond to input terminals on the
MicroMotion module. In the following text, inputs are described in left to right terminal
order.
24+
24-
NC
NC
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
RO1
FO1
JF1
FE1
DR1
JR1
COM1 MA1B
ES1
MA1A
Axis 1 Inputs
Axis 2 Inputs
POW
POW
FG
NC
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
Signal
10-2
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
FE2
RO2
JR2
JF2
ES2
DR2
MA2A
NC
COM2 MA2B
Name
Z
Marker Input
HSR
High-Speed Registration Input
COIN
Positioning Complete
HL
Home Position Limit
FO
Forward Overtravel
RO
Reverse Overtravel
FE
Feedrate Override
JF
Jog Forward
JR
Jog Reverse
DR
Drive / Servo Ready
ES
Emergency Stop
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
The Marker Input
24+
24-
POW
POW
NC
NC
NC
FG
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
VersaMax MicroMotion Modules can perform High-Speed Homing in two different
ways, as described in chapter 5: High-Speed Homing [Off-Edge], or High-Speed
Homing [Marker Pulse].
The Marker (Z) input is used for High-Speed Homing [Marker Pulse]. In this type of
High-Speed Homing, illustrated below, the axis moves in the commanded direction at
the configured Final Home Velocity to the first Marker (Z) input past the Home Position
Limit Switch.
Home Position
Limit Switch
ON
OFF
CCW speed
Marker input
CW speed
CW
5 pulses
Home
position
Find Home Velocity [low]
Start position
Final
Home
Velocity
Deceleration
Rate
CCW
Find Home Velocity [low]
Acceleration Rate
Find Home Velocity [high]
High-Speed Homing is controlled by sending the module a command from its host PLC
CPU or host controller, as described in chapter 5.
The Marker (Z) Input is always enabled; it cannot be disabled in the axis setup.
GFK-2471A
Chapter 10 External Inputs
10-3
10
High-Speed Registration Input
24+
24-
NC
NC
POW
POW
NC
NC
NC
FG
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
The High-Speed Registration (HSR) input is used in Manual or Auto mode to move the
axis by the specified number of pulses, then stop. The HSR input can also be used for
Windowing, as described in chapter 9.
High-Speed Registration can also be controlled by sending the MicroMotion module a
command from the Micro PLC or host controller
If the HSR input terminal for an axis will not be used, use of the HSR input should be
disabled in the Common Parameters.
Operation of High-Speed Registration
The number of pulses that will be output during High-Speed Registration is set up in
the axis Registration Move Distance parameter (see chapter 11, The Common
Parameters).
▪
In Manual Mode, if the HSR input turns On or the module receives an Execute
High-Speed Registration command from the PLC or host, the module outputs the
specified number of pulses from the present position, then stops. The move
distance is extended whenever the High-Speed Registration input turns On.
Registration Move
Distance
Moving distance
t
Registration Move
Command input
10-4
ON
OFF
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
▪
In Auto Mode, if the HSR input turns On or the module receives an Execute HighSpeed Registration command from the PLC or host, the module outputs the
specified number of pulses from the present position, then stops without starting
the next profile. The CPU or host controller can restart Auto Mode operation after
the axis stops.
HSR
[V]
Profile 1
2
3
3
No HSR: Profile 12
10
[t]
Dwell 10
Including HSR: Profile 12 (Registered distance movement) STOP
Registration Move Distance
The Registration Move Distance is the number of pulses the axis should output when
the High-Speed Registration input (above) turns On. It defaults to 10,000. The
Registration Move Distance parameter is a double-word floating point or integer value
in the range 0 to +2,147,483,583.
Positioning Delay for High-Speed Registration
After the High-Speed Registration input goes On, the module changes the move
distance. This results in a positioning delay of approximately 62µs
HSR
Interrupt
Firmware
Windowing
range appraisal
Change of the number of output pulses
20µs
Delay by H/W
40µs
2µs
Velocity
Registration move distance
GFK-2471A
Chapter 10 External Inputs
t
10-5
10
Positioning Complete Input
24+
24-
NC
NC
POW
POW
NC
NC
NC
FG
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
The Positioning Complete (COIN) input goes On when the axis has completed its
positioning. The use of this input defaults to enabled. If the COIN input for an axis will
not be used, it should be set to disabled in the Common Parameters. If the COIN input
is disabled, it is ignored in all modes.
Homing or Manual Mode: If the COIN input is enabled in the Common Parameters, it
must be On before axis motion can start. After a Homing or Manual Mode operation is
finished, it is not considered complete until its COIN input goes On.
Auto Mode: If the COIN input is enabled in the Common Parameters, it must be On to
start Auto mode operation. Because the next profile is run when the COIN input is On,
the Auto mode operation is not considered complete until the COIN input goes On.
(The next profile is not started until the COIN input turns On).
[t]
COIN
Follower Operation: When an axis is operating as a follower, if its COIN input is
enabled in the Common Parameters, the input must go On before the axis can start
the next operation. In the next illustration, the B axis does not follow the master
because its COIN input does not go On.
A-axis
[t]
B-axis
B-axis COIN
Effect of a Stop on Positioning Complete
If a stop occurs because of an external input or Stop command, the module processes
the Stop before turning On the COIN input. The next operation should start only after
the COIN input goes On. The application logic in the CPU or host should check the
Positioning Complete input status bits. If the operation is restarted while the COIN
input is still Off, an error occurs and the operation does not start.
10-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
Home Position Limit Input
24+
24-
POW
POW
NC
NC
NC
FG
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
Home Position Limit (HL) input is used for Homing. The details of HL input operation
are described in chapter 5, Homing.
The Home Position Limit input cannot be disabled.
The MicroMotion Module uses the state of the Home Position Limit input only when it is
operating in Homing mode. The module ignores the state of the Home Position Limit
input in all other modes, even if the input changes state.
GFK-2471A
Chapter 10 External Inputs
10-7
10
Forward and Reverse Overtravel Inputs
24+
24-
POW
POW
NC
NC
NC
FG
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
JF1
RO1
FO1
FE1
FE2
RO2
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
The Forward Overtravel (FO) and Reverse Overtravel (RO) inputs stop an axis if its
position exceeds a specified limit. By default, if an overtravel input is enabled and the
associated input goes Off, the axis stops immediately (Immediate Stop). This type of
stop can be changed in the axis setup to Decelerated Stop. When an axis stops due to
an overtravel input going Off, an error occurs.
If either overtravel input for an axis is not used, it should be disabled in the Common
Parameters. If an Overtravel input is disabled, the module ignores its state in all
operating modes.
Restarting Operation After an Overtravel Occurs
After an overtravel occurs, the axis cannot be moved in the same direction because an
error exists. Motion can be restarted in the reverse direction with a Manual Jog or
Homing operation.
+ Overtravel
CCW
FO
CW
CCW
CW
+ Overtravel cancellation
Move in reverse direction by
manual operation.
(In this case, it is CW direction)
If an overtravel input has been turned Off by the overtravel move, it remains Off until
motion reverses back past the overtravel on position.
10-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
If the Overtravel is cancelled by the Manual Jog operation, the Standby (STBY) bit
does not turn On. Because an Auto Mode operation can be performed only when the
Standby bit is On, the error must be cleared and the Homing operation completed after
the overtravel. Free Homing cannot be done when an overtravel exists.
Restarting Operation by Homing in the Reverse Direction
LS
- Overtravel
- Overtravel cancellation
CCW
RO
Move in reverse direction by
Homing CCW.
CCW
CW
CW
GFK-2471A
Chapter 10 External Inputs
10-9
10
Feedrate Override Input
24+
24-
NC
NC
POW
POW
FG
NC
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
DR1
JR1
JR2
FE2
RO2
JF1
FE1
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
If use of the Feedrate Override (FE) input is enabled in the Common Parameters, the
FE input can be used to initiate a Feedrate Override in Manual or Auto Mode. Feedrate
Override can also be initiated either by sending the MicroMotion Module a command
from the setup tool, or from a VersaMax Micro PLC or host controller.
If the FE input for an axis will not be used, it should be disabled in the Common
Parameters.
Operation of Feedrate Override
When the FE input goes On, the axis begins to decelerate an axis to the rate specified
by the Feedrate Override Percentage parameter.
Shape at Feedrate Override ON.
ON
Shape at Feedrate Override OFF
t
Feedrate
Override
ON
OFF
Feedrate Override is not used in Homing Mode, which operates at a fixed speed.
Feedrate Override is also invalid during a Decelerated Stop.
In Follower operation, the Feedrate Override function of the master axis controls the
speed of the follower axis. A follower axis ignores the state of its own FE input and any
Feedrate Override commands it receives.
If an operation is started while a Feedrate Override is in effect, it is output at the speed
decelerated to the Feedrate Override percentage.
Feedrate Override Percentage
The Feedrate Override Percentage parameter is a constant percentage from 1% to
100% by which to decelerate the pulse rate when the external FE input turns On during
a Feedrate Override. It defaults to 100%, which causes the pulse to stop immediately.
The pulse does not slow down below the initial axis velocity, even if a slower speed
Feedrate Override Percentage is specified.
10-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
Turning Feedrate Override On
If the FE input or Feedrate Override control bit from the PLC or host goes On while an
axis is accelerating, the axis goes to the speed specified by the Feedrate Override
Percentage parameter. If the axis is already moving faster than that speed, it
decelerates as shown in the righthand example below.
FE
FE
[V]
[V]
Feedrate
Override
Percentage
[t]
[t]
If the FE input or Feedrate Override control bit from the PLC or host goes On while the
axis is decelerating, the axis decelerates to its Feedrate Override Percentage.
FE
FE
[V]
[V]
[t]
[t]
Feedrate
Override
Percentage
Turning Feedrate Override Off
If the FE input or Feedrate Override control bit from the PLC or host goes On, causing
the axis to accelerate to its Feedrate Override Percentage speed, then goes Off again,
the axis continues accelerating to its normal velocity.
FE
FE
[V]
[V]
Feedrate
Override
Percentage
[t]
[t]
If the FE input or Feedrate Override control bit from the PLC or host goes On, causing
the axis to decelerate to its Feedrate Override Percentage, then goes Off while the
axis is still decelerating, the axis accelerates to its normal velocity.
FE
FE
[V]
[V]
[t]
GFK-2471A
Chapter 10 External Inputs
[t]
Feedrate
Override
Percentage
10-11
10
Combined Action of the FE Input and Feedrate Override Commands
The MicroMotion Module initiates all Feedrate Overrides as received. No priority is
given to any of the sources.
If the Feedrate Override function is started by command from the Setup Tool, Micro
PLC or host and the external FE input is subsequently turned On, the FE input has no
additional effect. However, if the FE input is turned On before the Feedrate Override
function is started by command, and it is then turned Off, the Feedrate Override
function is cancelled.
FE function valid
( Invalid )
( Valid )
Pulse output
ON
FE Input
Command
Execute
Feedrate
Override
This FE Input has no effect because the
Feedrate Override function is already active.
The MicroMotion Module will cancel (not simply suspend) the Feedrate Override
function if it receives a Cancel Feedrate Override command when the FE input is On.
To resume the Feedrate Override function, the FE input must be turned Off and then
back On again.
FE function valid
( Invalid )
( Valid )
Pulse output
ON
FE Input
Command
Cancel
Feedrate
Override
Execute
Feedrate
Override
FE Input is already On, so this
command is ignored.
10-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
Jog Forward and Jog Reverse Inputs
24+
24-
POW
POW
NC
NC
NC
NC
NC
FG
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
JR2
JF2
DR1
JR1
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
The Jog Forward (JF) and Jog Reverse (JR) inputs can be used to control an axis
pulse in Manual Mode. The Jog Forward input can also be used as a switch input in
Auto Mode. The JF and JR inputs are always enabled; they cannot be disabled in the
Common Parameters.
JF / JR Input in Manual Mode
By default, commands from the VersaMax Micro PLC or host control the axis pulse
output for inching or jogging in Manual Mode. Alternatively, the axis can be moved
using the JF and JR external inputs. Use of the JF and JR external input signals must
be explicitly enabled by command from the CPU or host using bits 12 and 13 of
Common Parameter Word 2 (see chapter 11). Once the axis is operating in external
input mode, the CPU or host can no longer control the axis. The CPU or host must
cancel external input mode to be able to control the axis again.
▪
In Jog mode, if the JF or JR input is turned On, a pulse is output at the Initial
Velocity that has been set up for Manual Mode. The pulse accelerates at the
Manual Mode Acceleration Rate until it reaches the Maximum Velocity. When the
JF or JR input is turned Off, the pulse decelerates at the Deceleration Rate and
stops.
JR,
JF
Pulse
▪
In Inching mode, if the JF or JR input is On, a pulse that corresponds to the
specified distance is output at the Initial Velocity that has been set up for Manual
Mode.
JR,
JF
Specified distance
Pulse
GFK-2471A
Chapter 10 External Inputs
10-13
10
▪
In Inching plus Jog mode, if the JF or JR input is On, a pulse is output at the Initial
Velocity that has been set up for Manual Mode. If JF or JR remains On after
200ms, the pulse accelerates to the configured initial velocity at the configured
acceleration rate. If the JF or JR input is turned Off, the pulse decelerates to the
initial velocity at the specified deceleration rate, and stops.
JR,
JF
Specified distance
Pulse
200 ms
▪
If the JR input turns On while JF is On, or if JF turns On while JR is On, the axis
slows to a stop.
▪
If the JF or JR input is turned On during deceleration, the input is not valid.
JF, JR
[V]
Inching
i
200ms
Jog operation
[t]
▪
If JF or JR is turned Off before the pulse output stops, the pulse output is restarted
according to the input that is On after the pulse stops.
JF
JR
[V]
Forward
direction
Reverse
direction
Forward
direction
[t]
ON of JF and JR is disabled because
it is under decelerated stop.
10-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
▪
The JF and JR inputs are level-sensitive. However, if the MicroMotion Module
switches to Manual Mode from a different mode, the pulse is not output unless JF
or JR is turned Off once.
External input instruction setting
JF, JR
[V]
JF, JR Invalid
[t]
Disable
JF Input in Auto Mode
In speed-controlled Auto mode, the On edge of the JF input advances from one profile
in a sequence table to the next profile, as shown below.
1 2
23
34
4Dwell
10Dwell
Invalid
Invalid
JF
[V]
Profile 1
2
3
4
Speed control
10
20
21
[t]
Position control
Chapter 7 provides a detailed description of using the Jog Forward input in Auto mode.
JF / JR Input in Follower Mode
When an axis is operating as the follower in Follower mode, its operations are
controlled by the JF and JR inputs of the master axis. The JF and JR inputs of the
follower axis are not used.
JF 1
A-axis
[V]
[t]
JF 2
B-axis
[V]
GFK-2471A
[t]
Chapter 10 External Inputs
10-15
10
Drive OK/Ready Input
24+
24-
NC
NC
POW
POW
FG
NC
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2 FO2
NC
RO1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1 FO1
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
The Drive OK/Ready (DR) input can be used to monitor the status of an external
device controlled by the axis.
In all operating modes, when the DR input is enabled, it must turn On to start the axis
pulse output. If the DR input turns Off while the pulse is being output, the pulse output
stops. In Follower mode, the follower axis will stop if the master axis stops.
The normal status of the DR input is On. If the DR input is Off, it is an error and an
Emergency Stop occurs. A Decelerated Stop is not possible.
Emergency stop
DR
[V]
[t]
If the DR input of and axis will not be used, it should be disabled in the Common
Parameters. When the DR input is disabled, it is ignored in all operating modes.
10-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
Emergency Stop Input
24+
24-
NC
NC
POW
POW
FG
NC
NC
NC
CW1+ CCW1+ CH1A+ CH1B+ CH1Z+ HSR1+ HL1
CW1- CCW1- CH1A- CH1B- CH1Z- HSR1- COIN1
CW2- CCW2- CH2A- CH2B- CH2Z- HSR2- COIN2
NC
FO2
CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
By default, when the Emergency Stop (ES) input goes Off, pulses on the axis stop
immediately (Fast Stop). This can be changed to Normal Stop, which will stop the
pulse at the configured Deceleration Rate.
The ES input cannot be disabled.
If the ES input signal goes Off, the axis pulse stops regardless of the status of the
MicroMotion Module.
If the axis is already decelerating when the Emergency Stop input goes off, it will either
stop immediately (left below), or continue decelerating at the same rate (right).
Fast stop
Normal stop
ES
ES
[V]
[V]
[t]
[t]
An error is generated when the ES input goes off.
If the axis is operating as a follower, it responds to the state of the ES input of the
master axis. If the follower axis stops because of an ES on the master, the master axis
has an error but the follower axis does not.
GFK-2471A
Chapter 10 External Inputs
10-17
10
Setting Up and Monitoring External Inputs
This section is a quick reference to setting up and monitoring the external inputs.
Additional setup, control, and monitoring will be needed to complete an application.
External Inputs Summary: MicroMotion Setup Tool
The MicroMotion Setup Tool (see chapter 12) provides a convenient interface for
setting up, controlling, and monitoring all features of the MicroMotion Module. The
window shown below is used to set up the operation of External Inputs. When the tool
is online to the MicroMotion Module, the Current Value column shows the parameter
value in the module.
During operation, the Input Signal display shows the status of the External Inputs:
JR
10-18
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
10
External Inputs Summary: VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU can use the following commands to set up and monitor
the External Inputs (see chapter 14 for more information)
Command
Set Up Read
Operation
Commands for Setting Up External Inputs
Common Parameter Word 3
Bit 0
63
B3
72
C2
Enable HSR Input= 0, disable = 1
2
Enable Feedrate Override (FE) Input = 0, disable = 1
4
Enable Drive OK (DR) Input = 0, disable = 1
6
Enable Move Complete (COIN) Input = 0, disable = 1
10
Operation at Overrun: 0 = fast stop. 1 = decelerated stop
11
Enable Overrun (Forward or Reverse) Input = 0, disable = 1
12
Operation at Emergency Stop: 0 = fast stop, 1 = decelerated
stop
Feedrate Override percentage
Commands to Monitor Status
Bit 4 = 1 indicates master axis has moved into window area.
Bit 8 = 1 while speed is controlled by the Feedrate Override input in
Auto or Manual mode.
Bit 9 = 1 while positioning by the HSR input in Auto or Manual mode.
A3
Bit 11: 1 = Overun Error
Bits 15-12 hex value indicates operation:
hex
0
8
9
GFK-2471A
Status
Idle
Manual operation (stopped) [External input mode]
Manual operation (operating) [External input mode]
Chapter 10 External Inputs
10-19
10
External Inputs Summary: Host Controller
A host controller can use the following MODBUS data to set up and monitor the
External Inputs (see chapter 15):
Axis A
Axis B
Description
Holding Registers to write data; Input Registers to read data
102
202
131
142-143
231
242-243
220
221
Common Parameter Word 3
Bit 0
Enable HSR Input= 0, disable = 1
2
Enable Feedrate Override (FE) Input = 0, disable = 1
4
Enable Drive OK (DR) Input = 0, disable = 1
6
Enable Move Complete (COIN) Input = 0, disable = 1
10
Operation at Overrun: 0 = fast stop. 1 = decelerated stop
11
Enable Overrun (Forward/Reverse) Input = 0, disable = 1
12
Operation at Emergency Stop: 0 = fast stop, 1 = normal
Feedrate Override Percentage
Registration Move Distance Lower word in lower register
Coils to Write All Parameters to Holding Registers
Set (write) All Common Parameters to Holding Registers
Coils to Set for External Inputs
292
293
Set / cancel Manual (external input) mode. Set = 1, cancel = 0.
Input Status Bits for External Inputs
25
26
27
28
29
30
31
32
248
292
17
18
19
20
21
22
23
24
249
293
Emergency Stop input status. On = 1
Drive Ok/Ready input status. On = 1
Jog Reverse input status. On = 1
Jog Forward input status. On = 1
Feedrate Override input status. On = 1
Reverse Overtravel input status. On = 1
Forward Overtravel input status. On = 1
Move Complete input status. On = 1
Feedrate Override status. 1 = feedrate override
Manual operation (external input) 1 = yes
Input Registers to Monitor Axis Operations
11
10-20
26
Bit 4 = 1 indicates master axis has moved into window area
Bit 8 = 1 while speed is controlled by the Feedrate Override input
Bit 9 = 1 while positioning by the HSR input
Bit 11 = 1: Overun Error
Bits 15-12 hex value indicates operation:
hex Status
0
Idle
8
Manual operation (stopped) [External input mode]
9
Manual operation (operating) [External input mode]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
The Common Parameters
11
This chapter describes the Common Parameters of a MicroMotion module.
▪
Common Parameters Reference Table
▪
Common Parameter Descriptions
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
▪
Common Parameter 1: Setup Bits for Outputs
Common Parameter 2: Setup Bits for Input Feedback
Common Parameter 3: Setup Bits for External Inputs
Common Parameter 4: Pulses per Motor Rotation for Outputs
Common Parameter 5: User Units for Motor Rotation for Outputs
Common Parameter 6: Velocity Limit
Common Parameter 7: Initial Velocity for Auto Mode
Common Parameter 8: Find Home Velocity
Common Parameter 9: Final Home Velocity
Common Parameter 10: Acceleration Rate
Common Parameter 11: Deceleration Rate
Common Parameter 12: Maximum Velocity
Common Parameter 13: Initial Velocity
Common Parameter 14: Acceleration Rate
Common Parameter 15: Deceleration Rate
Common Parameter 16: Inching Distance
Common Parameter 17: Backlash Compensation
Common Parameter 18: Feedrate Override Percentage
Common Parameter 19: Gear Ratio in Follower Mode
Common Parameter 20: Upper Position Limit for Outputs
Common Parameter 21: Lower Position Limit
Common Parameter 22: Home Position
Common Parameter 23: Home Position Offset
Common Parameter 24: Registration Move Distance
Common Parameter 25: Pulses per Motor Rotation for Input Feedback
Common Parameter 26: User Units for Motor Rotation for Input Feedback
Common Parameter 27: Upper Position Limit for Input Feedback
Common Parameter 30: Window Interval
Common Parameter 31: Window Band, CW
Common Parameter 32: Window Band CCW
Common Parameter 33: Windowing Velocity Override
▪
Guidelines for Changing Parameters
▪
Managing the Common Parameters
GFK-2471A
11-1
11
Common Parameters Reference Table
The first three words of the Common Parameters data are used for bit parameters.
The rest of the Common Parameters consist of one or more data words each, as
shown below.
Each Common Parameter has an identifying number. The table lists all Common
Parameters in numerical order. The third column indicates the order of the data words
in the Common Parameters. Columns 4 and 5 list the command numbers that can be
used to write or read individual parameters from a VersaMax Micro PLC CPU.
Columns 6 and 7 list the Holding Register and equivalent Input Register numbers that
can be used by a host controller to read or write Common Parameters.
Description
Data
Word
VersaMax
Holding Register /
Micro PLC CPU
Input Register
Write
Read
Axis A
Axis B
200
Setup Bits for Outputs
1
1
61
B1
100
Setup Bits for Input Feedback
2
2
62
B2
101
201
Setup Bits for External Inputs
3
3
63
B3
102
202
64
B4
103
203
104
204
105
205
65
B5
106
206
107
207
Output Pulses per Motor Rotation [Lower]
Output Pulses per Motor Rotation [Upper]
Output User Units per Motor Rotation
[Lower]
Output User Units per Motor Rotation
[Upper]
Velocity Limit [Lower]
Velocity Limit [Upper]
Initial Velocity in Auto mode. [Lower]
Initial Velocity in Auto mode. [Upper]
Find Home homing speed [Lower]
Find Home homing speed [Upper]
Final Home homing speed [Lower]
Final Home homing speed [Upper]
Homing: Acceleration Rate [Lower]
Homing: Acceleration Rate [ [Upper]
Homing: Deceleration Rate [Lower]
Homing: Deceleration Rate [Upper]
Maximum Velocity manual mode [Lower]
Maximum Velocity manual mode [Upper]
Initial Velocity in manual mode [Lower]
Initial Velocity in manual mode [Upper]
Acceleration Rate in manual mode [Lower]
Acceleration Rate in manual mode [Upper]
11-2
Common
Parameter
Number
4
4
5
6
5
7
6
7
8
9
10
11
12
13
14
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
66
67
B6
B7
68
B8
69
B9
6A
BA
6B
BB
6C
6D
6E
VersaMax® Micro PLC MicroMotion Modules – December, 2008
BC
BD
BE
108
208
109
209
110
210
111
211
112
212
113
213
114
214
115
215
116
216
117
217
118
218
119
219
120
220
121
221
122
222
123
223
124
224
GFK-2471A
11
Common
Parameter
Number
Description
Deceleration Rate in manual mode [Lower]
Deceleration Rate in manual mode [Upper]
Inching Distance in manual mode [Lower]
Inching Distance in manual mode [Upper]
Backlash Compensation [Lower]
Backlash Compensation [Upper]
Feedrate Override Percentage
Data
Word
15
16
17
18
Gear Ratio (Axis A) in Follower operation
Gear Ratio (Axis B) in Follower operation
Upper Position Limit [Lower]
19
20
Upper Position Limit [Upper]
Lower Position Limit [Lower]
21
Lower Position Limit [Upper]
Home Position data in homing [Upper]
Home Position data in homing [lower]
Home Position Off[Lower]
22
23
Home Position Off[Upper]
Registration Move Distance [Lower]
Registration Move Distance [Upper]
Input Feedback Pulses per Motor Rotation
[Lower]
Input Feedback Pulses per Motor Rotation
[Upper]
Input Feedback User Units per Motor
Rotation [Lower]
Input Feedback User Units per Motor
Rotation [Upper]
Input feedback Upper Position Limit
[Lower]
Input feedback Upper Position Limit
[Upper]
24
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
VersaMax
Holding Register /
Micro PLC CPU
Input Register
Write
Read
6F
BF
70
C0
71
C1
72
C2
73
C3
74
C4
75
C5
76
C6
77
C7
78
C8
79
C9
Axis A
Axis B
125
225
126
226
127
227
128
228
129
229
130
230
131
231
132
133
134
234
135
235
136
236
137
237
138
238
139
239
140
240
141
241
142
242
143
243
144
244
145
245
146
246
147
247
148
248
50
149
249
51
150
250
151
251
44
45
25
46
47
26
7A
CA
48
49
27
7B
CB
nd
Free-form Units [Output]: 1st/2 ASCII
character Use 8 characters. Fill unused
characters with space characters (20 hex).
Free-form Units [Output]: 3rd/4th
character
28
52
7D
CD
Free-form Units [Output]: 5th/6th
character
53
152
252
Free-form Units [Output]: 7th/8th
character
54
153
253
GFK-2471A
Chapter 11 The Common Parameters
11-3
11
Description
Common
Parameter
Number
Free-form Units [Input feedback]: 1st/2nd
ASCII character
Free-form Units [Input feedback]: 3rd/4th
ASCII character
Free-form Units [Input feedback]: 5th/6th
ASCII character
Windowing Interval [Upper]
Windowing Range in CW direction
[Lower]
Windowing Range in CCW direction
[Upper]
Windowing Velocity Override
Windowing Base Point [Lower]
Windowing Base Point [Upper]
11-4
Write
Axis A
Axis B
154
254
Read
155
255
57
156
256
58
157
257
56
29
30
31
Windowing Range in CW direction [Upper]
Windowing Range in CCW direction
[Lower]
VersaMax
Holding Register /
Micro PLC CPU
Input Register
55
Free-form Units [Input feedback]: 7th/8th
ASCII character
Windowing Interval [Lower]
Data
Word
7C
59
60
61
CC
7E
CE
7F
CF
62
63
32
80
34
65
66
67
81
82
VersaMax® Micro PLC MicroMotion Modules – December, 2008
258
259
160
260
161
261
162
262
163
263
164
264
D0
64
33
158
159
D1
D2
165
265
166
266
GFK-2471A
11
Common Parameter Descriptions
This section provides detailed descriptions of all the common parameters. Parameters
are described in numerical order by the parameter numbers listed in the Common
Parameters Reference Table.
Common Parameter Word 1: Setup Bits for Outputs
15 14 13 12 11 10
Not Used
Pulse Type (See below)
9
8
7
6
5
4
3
2
1
0
Acceleration Type
0 = Linear acceleration
1 = S-curve acceleration
Deceleration Type
0 = Linear deceleration
1 = S-curve deceleration
Motion Type
0 = Linear motion with no positioning rollover
1 = Rotary motion including positioning rollover
Homing Direction in Rotary Mode
0 = Homing in commanded direction
1 = Homing in shortest direction
Backlash Compensation
0 = Backlash compensation in scaling units
1 = Backlash compensation in pulses (unscaled)
(Set to 1 if User Units per Motor Rotation is large)
Homing (Input Pulse)*
0 = Independent
1 = Dependent
Parameter Type
0 0 0 = floating point
1 0 0 = integer
User Units
0 0 0 = pulses
0 0 1 = free form
0 1 0 = 0.1-µm units
0 1 1 = 0.00001-inch units
*
GFK-2471A
Requires MicroMotion Module IC200UMM002/102-BB or later
Chapter 11 The Common Parameters
11-5
11
Pulse Type (Common Parameter 1, bit 14 to bit 12)
The value in bits 12 to 14 sets up the pulse output type and the logic of pulse output.
Bit 15 is not used. Match the Pulse Type to the pulse input method of servo controller.
Bit 14
Bit
13
Bit
12
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
Method
Pulse Output Method
Direction
signal
CW pulse
CCW pulse
Output signal
Direction signal (CCW)
L=CW
H=CCW
H=CW
L=CCW
L=CW
H=CCW
H=CW
L=CCW
Active High
Active Low
Active High
Active Low
Forward (CCW)
Active High
Active Low
CCW
pulse
CW pulse
Active High
Active Low
Active High
Active Low
Reverse (CW)
“H”
“L”
“L”
“H”
“H”
“L”
“L”
“H”
Clock (CW)
Direction signal (CCW)
Clock (CW)
Direction
signal
clock output
Direction signal (CCW)
Clock (CW)
Direction signal (CCW)
Clock (CW)
CW
CCW
CW
CW / CCW
pulse
output
CCW
CCW
CW
CCW
CW
11-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Velocity
Acceleration Type (Common Parameter 1, bit 11): The value in bit 11 sets up the
acceleration type for high-speed homing as Linear or S-Curve.
Linear Acceleration / Deceleration
S-curve Acceleration / Deceleration
A/3
A/3
A/3
Acceleration time A
B/3
B/3
B/3
Deceleration time B
t
Deceleration Type (Common Parameter 1, bit 10): The value in bit 10 sets up the
deceleration for high-speed homing as Linear or S-Curve.
Motion Type (Common Parameter 1, bit 9) : Linear or rotary movement for the axis.
0
315
90
Lower limit rollover
315
Upper limit position
0
90
In Rotary mode, the range of movement is between 0 and a configurable limit. If the
move reaches the upper limit position, it returns to 0 degree by rotating in the forward
direction. If the move reaches 0, it returns to the upper limit position by rotating in the
reverse direction. Motion does not stop at the upper and lower limit position. For
example, if the number of Pulses per Motor Rotation is 32,768, the axis can rotate
131,072 times before stopping ( 4,294,967,295 ÷ 32,768 = 131,072 ).
The maximum distance for one rotary operation is equivalent to 4,294,967,295 pulses.
If the number of output pulses reaches 4,294,967,295, motion stops suddenly. When
motion stops, the pulse count is cleared to 0, and the axis can move the equivalent of
4,294,967,295 pulses again.
When switching from linear to rotary mode or from rotary to linear mode, the current
position becomes 0.
GFK-2471A
Chapter 11 The Common Parameters
11-7
11
Homing Direction (Common Parameter 1, bit 8): If the Motion Type for the axis has
been set to Rotary, this parameter determines whether the direction will be
commanded, or automatically-calculated based on the shortest distance direction.
When the current position is 180° and an overrun occurs, homing is performed in the
specified direction.
Shortest direction
Current
CCW direction
Current
CW direction
Current position
Backlash Compensation (Common Parameter 1, bit 7): This parameter selects
whether the backlash compensation will be measured in scaled units or in unscaled
pulses. The amount of the backlash correction is determined by the units setting. This
parameter should be set to pulses if the User Units per Motion Value is large.
Input Feedback Position for Homing (Common Parameter 1, bit 6): The basic
Homing operations (see chapter 5 for information) result in the current axis output
position being set to the Home Position when homing is complete. The position of the
input pulse depends on the count of the feedback pulse.
MicroMotion Modules IC200UMM002/1-2-BB or later can be set up to change the
current position of both the output pulse and the input pulse to the Home Position.
▪
If this parameter is set to independent (the default choice), the current position of
the output pulse is set to the Home Position when the homing is complete, but the
position of the input pulse depends on the count of the feedback pulse.
▪
If this parameter is set to dependent, the current position of both the output and
input pulses is changed to the Home Position when the homing is completed.
Parameter Type (Common Parameter 1 , bits 3-5) : Parameters can be measured in
floating point or integer units.
If floating point is selected, several axis parameters including velocity, acceleration,
deceleration, and position limits are specified in double-word floating point. Because
range errors can occur if the parameters and scaling are not correctly matched, the
parameter type should be determined before designing the system. When the
Parameter Type is changed, the module automatically adjusts parameters related to
Parameter Type. However, the Parameter Type used for Profile Date is not changed,
See Appendix A for detailed information about floating point data.
11-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
The following parameters are influenced by the Parameter Type setting:
Common Parameters
Profile Data Parameters
Number of pulses per rotation of motor
Acceleration rate
Work travel per rotation of motor
Deceleration rate
Upper limit speed data in Auto and
Manual mode
Speed
Initial velocity for Auto mode
Target position data
High-speed homing velocity
Low-speed homing velocity
Homing acceleration rate
Homing deceleration rate
Speed [Manual operation]
Initial velocity for Manual mode
Acceleration rate for Manual mode
Deceleration rate for Manual mode
Moving distance data in Manual mode
(Inching operation)
Backlash
Upper limit position data
Lower limit position data
Home position data
Homing off-set data
Extended moving distance data
User Units (Common Parameter 1, bits 0-2) : The units of motion for the axis:
Pulses, Free Form, MicroMeters, Inches, or Degrees. Select “Free Form” to enter
custom units of up to 8 characters. Free Form units can be assigned to suit the
application. For example, if Pulses per Rotation of 16,384 should correspond to User
Units per Rotation of 200 mm, the units should be assigned as Free Form.
Units
GFK-2471A
Range
Pulse
Integer : +2,147,483,647 to -2,147,483,648
Floating point : +2,147,483,583 to -2,147,483,583
Free Form
The setting range changes depending on a user-set value.
µm
Integer : +214,748,364.7 to -214,748,364.8 (0.1 µm)
Floating point : +214,748,358.3 to –214,748,358.3
inch
Integer : +21,474.83647 to -21,474.83648 (0.00001 inch)
Floating point : +21,474.83583 to –21,474.83583
degree
Integer : +21,474.83647 to -21,474.83648 (0.00001 degree)
Floating point : +21,474.83583 to –21,474.83583
Chapter 11 The Common Parameters
11-9
11
Common Parameter Word 2: Setup Bits for Input Feedback
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Pulse Type
0 0 = x4
0 1 = x2
10=x1
1 1 = Up/Down signal
Move Type for External Input
0 0 = Jog operation
0 1 = Inching operation
1 0 = Inching plus Jog operation
1 1 = Inching plus Jog operation
Not Used
Motion Type
0 = Linear motion (no position rollover)
1 = Rotary module (including position rollover)
Final Home Velocity for High-Speed Homing *
0 0 0 = 50 pps
0 0 1 = 100 pps
0 1 0 = 200 pps
0 1 1 = 400 pps
1 0 0 = 800 pps
1 0 1 = 1600 pps
1 1 0 = 3200 pps
1 1 1 = 6400 pps
Parameter Type
0 0 0 = floating point
1 0 0, 1 0 1, 1 1 0, 1 1 1 = integer
User Units
0 0 0 = Pulses
0 0 1 = Free-form units
0 1 0 = Micrometers
0 1 1 = Inches
1 0 0 = Degrees
1 0 1, 1 1 0, 1 1 1 = (degree)
* Use of this features requires MicroMotion Module IC200UMM002/102-BB or later.
11-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Input Feedback Pulse Type (Common Parameter 2, bits 14 and 15)
The value in bits 14 and 15 sets up the pulse type for input feedback. If the axis is set
up for Input Feedback, match its operation to the feedback from the encoder.
UP
X4
UP
UP
UP
DOWN
UP
UP
DOWN
DOWN
DOWN
DOWN
DOWN
X2
UP
DOWN
X1
UP
UP/DOWN Signal
UP
DOWN
DOWN
Move Type for External Input (Common Parameter 2, bits 12-13): The type of
Manual operation to be performed while the Jog Forward (JF) or Jog Reverse (JR)
input is On: jog, inching, or inching plus jog.
In Jog mode, if the Jog Forward or Jog Reverse input is turned on, a pulse is output at
the Initial Velocity that has been set up for Manual Mode. The pulse accelerates at the
Manual Mode Acceleration Rate until it reaches the Maximum Velocity. When the Jog
Forward or Jog Reverse input is turned off, the pulse decelerates at the Deceleration
Rate and stops.
JR,
JF
Pulse
In Inching mode, if the Jog Forward or Jog Reverse input is on, a pulse that
corresponds to distance that user set is output at the Initial Velocity that has been set
up for Manual Mode.
JR,
JF
Specified distance
Pulse
GFK-2471A
Chapter 11 The Common Parameters
11-11
11
In Inching plus Jog mode, if the Jog Forward or Jog Reverse input is On, a pulse is
output at the Initial Velocity that has been set up for Manual Mode. If Jog Forward or
Jog Reverse remains on after 200ms, the pulse accelerates to the configured initial
velocity at the configured acceleration rate. If the Jog Forward or Jog Reverse input is
turned off, the pulse decelerates to the initial velocity at the specified deceleration rate,
and stops.
JR,
JF
Specified distance
Pulse
200 ms
Motion Type (Common Parameter 2, bit 9) : The linear or rotary movement of the
axis.
0
315
90
Lower limit rollover
315
Upper limit position
0
90
In Rotary mode, the range of movement is between 0 and a configurable limit. If the
move reaches the upper limit position, it returns to 0 degree by rotating in the forward
direction. If the move reaches 0, it returns to the upper limit position by rotating in the
reverse direction. Motion does not stop at the upper and lower limit position. For
example, if the number of Pulses per Motor Rotation is 32,768, the axis can rotate
131,072 times before stopping ( 4,294,967,295 ÷ 32,768 = 131,072 )
The maximum distance for one rotary operation is equivalent to 4,294,967,295 pulses.
If the number of output pulses reaches 4,294,967,295, motion stops suddenly. When
motion stops, the pulse count is cleared to 0, and the axis can move the equivalent of
4,294,967,295 pulses again.
When switching from linear to rotary mode or from rotary to linear mode, the current
position becomes 0.
11-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Final Home Velocity for High-Speed Homing (Common Parameter 2, bits 8 – 6):
b8
b7
b6
Final Homing Velocity
0
0
0
50 pps
0
0
1
100 pps
0
1
0
200 pps
0
1
1
400 pps
1
0
0
800 pps
1
0
1
1600 pps
1
1
0
3200 pps
1
1
1
6400 pps
Parameter Type (Common Parameter 2, bits 3-5) : Floating point or integer units.
As with outputs, if floating point is selected for Input Feedback, several axis
parameters including velocity, acceleration, deceleration, and position limits are
specified in double-word floating point. Because range errors can occur if the
parameters and scaling are not correctly matched, the parameter type should be
determined before designing the system. See Appendix A for detailed information
about floating point data.
User Units (Common Parameter 2, bits 0-2) : The units of motion for the axis:
Pulses, Free Form, MicroMeters, Inches, or Degrees. Select “Free Form” to enter
custom units of up to 8 characters. Free Form units can be assigned to suit the
application. For example, if Pulses per Rotation of 16,384 should correspond to User
Units per Rotation of 200 mm, the units should be assigned as Free Form.
Units
GFK-2471A
Range
Pulse
Integer : +2,147,483,647 to -2,147,483,648
Floating point : +2,147,483,583 to -2,147,483,583
Free Form
The setting range changes depending on a user-set value.
µm
Integer : +214,748,364.7 to -214,748,364.8 (0.1 µm)
Floating point : +214,748,358.3 to –214,748,358.3
inch
Integer : +21,474.83647 to -21,474.83648 (0.00001 inch)
Floating point : +21,474.83583 to –21,474.83583
degree
Integer : +21,474.83647 to -21,474.83648 (0.00001 degree)
Floating point : +21,474.83583 to –21,474.83583
Chapter 11 The Common Parameters
11-13
11
Common Parameter Word 3: Setup Bits for External Inputs
The Common Parameters for External Inputs set up the operation of most external
inputs. External inputs that will not be used should be set to Disable.
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Velocity Auto Correct
see the description in chapter 5
0 = Enable
1 = Disable
Not Used
Operation of Emergency Stop (bit 12)
0 0 = Fast stop
0 1 = Normal stop
Enable Overrun (Forward or Reverse) Input
0 = Overrun (FO or RO) enable
1 = Overrun (FO or RO) disable
Operation at Overrun
0 0 = Fast stop
0 1 = Normal stop
Homing Wait Time (bit 9, bit 8) *
0 0 = 500ms
0 1 = 100ms
1 0 = 250ms
1 1 = 1000ms
Enable Move Complete (COIN) input (bit 6)
0 = Enable
1 = Disable
Enable Drive OK/Ready (DR) Input (bit 4)
0 = Enable
1 = Disable
Enable Feedrate Override (FE) input (bit 2)
0 = Enable
1 = Disable
Enable Registration (HSR) input (bit 0)
0 = Enable
1 = Disable
* Use of this features requires MicroMotion Module IC200UMM002/102-BB or later.
11-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Velocity Auto Correct (Common Parameter 3, bit 15): By default, Velocity Auto
Correct is disabled. If Auto Correct is set to enable, the axis velocity will be corrected
automatically to a value that is within the configured limits. If Velocity Auto Correct is
set to disable, the velocity will not be corrected and an error will be reported if the
value is not within the configured limits.
When Velocity Auto Correct is enabled, the range of the Maximum Velocity determines
the resolution of the minimum units. Velocity ranges and resolutions of their minimum
units are shown in the following table. Velocity is adjusted using these resolutions in
Manual Mode and Auto Mode. The velocity correction in Homing Mode is based on
the Find Home Velocity.
Range of
Maximum Velocity
Minimum Units
Pulses /s
µm [µm/s] *
Inch [Inch/s] *
Degree
[degree/s] *
1 to 5,000
1 pps
61.04
0.000244
0.02
5,001 to 50,000
10 pps
610.35
0.002441
0.22
50,001 to 500,000
100 pps
6103.52
0.024414
2.20
500,001 to 2,000,000
1000 pps
61035.2
0.24414
22.0
[pulse/s]
* The Pulses per Motor Rotation is 16384 and the User Units per Motor Rotation are
100,000µm, 4 inch, and 360 degrees.
If acceleration and deceleration exceed the Upper Position Limit of each range, they
are set to the Upper Position Limit value. If they fall below the lower limit value of each
range, they will be set to the Lower Position Limit value.
If Velocity Auto Correct is enabled, the acceleration and deceleration for Homing Mode
are adjusted depending on the Find Home Velocity.
Maximum acceleration and deceleration (pps conversion) = 500 x Maximum
velocity (pps conversion)
Minimum acceleration and deceleration (pps conversion) = 0.0625 x Maximum
velocity (pps conversion).
GFK-2471A
Chapter 11 The Common Parameters
11-15
11
When the maximum velocity is less than 1000pps in pulse conversion, the acceleration
2
/ deceleration is a maximum of 500122pps (pulse conversion).
450,000 pps
450,000
Maximum frequency
500kpps
95,200
95,150 pps
Maximum frequency
50kpps
48,250
48,245 pps
21,480
21,480 pps
45 pps
100
50
Example 1
Example 2
In example 1, the velocity units are 100 pps because the Velocity Limit is 500k pps
(see the table on the previous page). Therefore, 95,150 pps would be adjusted to
95,200pps and 45 pps would be adjusted to 100 pps.
In example 2, the velocity units are 10 pps because the Velocity Limit is 50k pps (see
the table on the previous page). Therefore, 48,245 pps would be adjusted to 48,250
pps. 21,480 pps would remain unchanged, and 45 pps would be adjusted to 50 pps.
The pulse may be output at a different velocity than the set velocity depending on the
Velocity Limit. If more precise speed control is required, the Velocity Limit can be
lowered.
Operation of Emergency Stop Input (Common Parameter 3, bit 12): By default,
when the Emergency Stop input goes On, pulses on the axis stop immediately (Fast
Stop). This can be changed to Normal Stop, which will stop the pulse at the configured
Deceleration Rate. The Emergency Stop input cannot be disabled.
Fast stop
Normal stop
ES
ES
[V]
[V]
[t]
[t]
Enable Overrun Inputs (Common Parameter 3, bit 11): Enables or disables
operation of the external Forward / Reverse Overtravel Inputs. By default these inputs
are enabled. If the FO and RO inputs are not used for the axis, set this parameter to
Disabled.
11-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Operation of Overrun Inputs (Common Parameter 3, bit 10): If the Forward /
Reverse Overtravel Inputs are enabled, this bit determines what happens if the
Forward Overtravel or Reverse Overtravel axis input goes Off. By default, a forward or
reverse overtravel will cause the axis to stop immediately (Enable Fast Stop). This can
be changed to Normal Stop.
Homing Wait Time (Common Parameter 3, bits 8-9)
If Input Feedback Position is set to Dependent, this parameter sets up the length of
time to wait for all of the feedback pulses to be completed, before performing homing.
Bit 9
Bit 8
Waiting time for Homing
0
0
500 ms
0
1
100 ms
1
0
250 ms
1
1
1000 ms
* Use of this features requires MicroMotion Module IC200UMM002/102-BB or later.
Enable Move Complete Input (Common Parameter 3, bits 6-7): The Move
Complete (COIN) input goes On when the axis has completed its positioning. Use of
this input defaults to enabled. If the axis COIN input terminals will not be used, the
Move Complete input should be disabled.
[t]
COIN
Enable Drive OK/Ready Input (Common Parameter 3, bit 4): The Drive OK/Ready
(DR) input can be used to monitor the status of an external device controlled by the
axis. If the input terminal will not be used, the Drive OK/Ready input should be
disabled.
When the Drive OK/Ready input is enabled, the axis pulse output does not start until
the Drive OK/Ready input turns On. If the Drive OK/Ready input turns Off during pulse
output, the pulse output stops.
Emergency stop
DR
[V]
[t]
GFK-2471A
Chapter 11 The Common Parameters
11-17
11
Enable Feedrate Override Input (Common Parameter 3, bit 2): If Feedrate
Override (FE) input is enabled, when the Feedrate Override input is On, the axis will
decelerate at the selected Feedrate Override Percentage (below). If the FE input
terminals will not be used, the Feedrate Override input should be disabled. The
Feedrate Override function can also be controlled by command from the Micro PLC or
host controller.
Shape at Feedrate Override ON.
ON
Shape at Feedrate Override OFF
t
Feedrate
Override
ON
OFF
Enable High-Speed Registration Input (Common Parameter 3, bit 0): If the HighSpeed Registration (HSR) is enabled, when the High-Speed Registration input turns
On during Manual or Auto Mode, the axis outputs the specified number of pulses
(below), then stops. If the input terminal will not be used, the High-Speed Registration
input should be disabled. The number of pulses that will be output is set up in the
Registration Move Distance parameter.
▪
In Manual Mode, when the High-Speed Registration input turns On, the module
outputs the specified number of pulses from the present position, then stops. The
move distance is extended whenever the High-Speed Registration input turns On.
Registration Move
Distance
Moving distance
t
Registration Move
Command input
▪
ON
OFF
In Auto Mode, when the High-Speed Registration input turns On, the module
outputs the specified number of pulses from the present position, then stops
without starting the next profile. The CPU or host controller can restart Auto Mode
operation after the axis stops.
HSR
[V]
Profile 1
No HSR: Profile 12
2
3
3
10
[t]
Dwell 10
Including HSR: Profile 12 (Registered distance movement)STOP
11-18
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Common Parameter 4: Pulses per Motor Rotation for
Outputs
If the User Units are not configured to be pulses, this parameter specifies the number
of output pulses that corresponds to one rotation of the motor. The MicroMotion
Module uses this parameter and the User Units per Motor Rotation to scale outputs.
Default is 2000 (hex 44FA0000).
Parameter Type
Range
Length
Floating point
10 to 65,535
Double word
Integer
10 to 65,535
Double Word
Common Parameter 5: User Units per Motor Rotation for
Outputs
If the User Units are not pulses, this parameter determines the number of selected
Units (free form, micrometers, inches, degrees) that correspond to one rotation of the
motor. Default is 2000. This is a double-word floating point or integer value.
Units
Valid range
µm
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer) ( × 0.1 )
inch
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer) ( × 0. 00001 )
Free-form
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer)
degree
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer) ( × 0. 00001 )
Note: When using Free-form User Units, the initial velocity may be the high speed if
the User Units per Motor Rotation parameter is set to a smaller value. In that case, the
User Units per Motor Rotation should be changed. For example: the Initial Velocity is
2000pps and the Pulses per Motor Rotation is set to 2000, the User Units per Motor
Rotation is set to 1 cm, and the Initial Velocity is set to 1 cm/s. If the Initial Velocity
2000pps is too high, the User Units per Motor Rotation should be changed to 10 mm or
to 10000µm.
GFK-2471A
Chapter 11 The Common Parameters
11-19
11
Common Parameter 6: Velocity Limit
The maximum number of pulses, micrometers, inches, degrees, or free-form units per
second. Default is 50000. This is a double-word floating point or integer value.
Common Parameter 7: Initial Velocity for Auto Mode
The initial velocity for Auto Mode, in User Units (pulses, micrometers, inches, degrees,
or free-form units) per second. Default is 100. This is a double-word floating point or
integer value.
Common Parameter 8: Find Home Velocity (Low, High)
The Find Home Velocity, in User Units (pulses, micrometers, inches, degrees, or freeform units) per second. It must be more than the Final Home Velocity. Default is 200.
This is a double-word floating point or integer value.
Common Parameter 9: Final Home Velocity
The Final Home Velocity for High-speed Homing, in User Units per second. It must be
less than the Find Home Velocity. Default is 10050. It can be changed to 100, 200,
400, 800, 1600, 3200, or 6400. This is a double-word floating point or integer value.
Common Parameter 10: Acceleration Rate
The acceleration rate for homing in User Units (pulses, micrometers, inches, degrees,
2
or free-form units) per second . Default is 200. This is a double-word floating point or
integer value.
Common Parameter 11: Deceleration Rate
The deceleration rate for homing in User Units (pulses, micrometers, inches, degrees,
2
or free-form units) per second . Default is 200. This is a double-word floating point or
integer value.
11-20
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Common Parameter 12: Maximum Velocity
The greatest velocity for the pulse output when the Jog Forward (JF) or Jog Reverse
(JR) input is On, in User Units (pulses, micrometers, inches, degrees, or free-form
units) per second. Default is 10000. This is a double-word floating point or integer
value.
Common Parameter 13: Initial Velocity
The initial velocity for the axis when the Jog Forward (JF) or Jog Reverse (JR) input is
On, in User Units (pulses, micrometers, inches, degrees, or free-form units) per
second. Default is 1000. This is a double-word floating point or integer value.
Common Parameter 14: Acceleration Rate
The Acceleration Rate for Manual Mode, in User Units (pulses, micrometers, inches,
2
degrees, or free-form units) per second . Default is 4000. This is a double-word floating
point or integer value.
Common Parameter 15: Deceleration Rate
The deceleration rate for Manual operation, in User Units (pulses, micrometers, inches,
2
degrees, or free-form units) per second . Default is 4000. This is a double-word floating
point or integer value.
Common Parameter 16: Inching Distance
The distance for the inching operation when the Jog Forward or Jog Reverse input is
turned On in Manual Mode. Distance is in User Units (pulses, micrometers, inches,
degrees, or free-form units). Default is 1. This is a double-word floating point or integer
value.
GFK-2471A
Chapter 11 The Common Parameters
11-21
11
Common Parameter 17: Backlash Compensation
The backlash compensation for the axis, in pulses or the selected User Units (pulses,
micrometers, inches, degrees, or free-form units). Backlash Compensation should be
set to pulses if the number of User Units per Motor Rotation is large. Default is 0. This
is a double-word floating point or integer value. If a value is specified, backlash
compensation will be performed during Manual or Auto Mode whenever the rotating
direction of the motor changes.
Backlash
For example, if the target position data is 1,000 pulses / -1,000 pulse, and the
Backlash Compensation is 50:
Last moved direction
Generating pulse 1,000 pulses
CW
direction
CCW
direction
Generating pulse
1,050 pulses
Generating pulse 1,050 pulses
CW
direction
CCW
direction
Generating pulse
1,000 pulses
In Homing Mode, the result of Backlash Compensation depends on the travel direction
and the type of homing being performed.
Free homing
11-22
Travel in CW direction
Travel in CCW direction
-Travel distance
Travel distance
CW low speed homing
-Travel distance
Travel distance + backlash
CCW low speed homing
-Travel distance - backlash
Travel distance
CW high speed homing
-Travel distance
Travel distance + backlash
CCW high speed homing
-Travel distance - backlash
Travel distance
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Common Parameter 18: Feedrate Override Percentage
If the Feedrate Override (FE) input (above) is enabled, a constant percentage from 1 to
100 can be specified by which to decelerate the pulse rate when the external FE input
turns On. This defaults to 100%, which causes the pulse to stop immediately. The
pulse will not slow down below the initial velocity, even if a slower speed is specified.
Common Parameter 19: Gear Ratio in Follower Mode
An optional multiplier to be used when the pulses from the master axis should be
scaled (either up or down) for the follower axis. For example, a setting value of 1 : 2
will cause the module to output the pulses for the follower axis at double the pulse rate
of the master. Alternatively, a setting value of 2 : 1 will cause the module to output the
pulses for the follower axis at half the pulse rate of the master.
The Move Velocity of the master multiplied by the Gear Ratio must not exceed 2 million
pulses per second.
GFK-2471A
Chapter 11 The Common Parameters
11-23
11
Common Parameter 20: Upper Position Limit for Outputs
The Upper Position Limit in the selected User Units (pulses, micrometers, inches,
degrees, or free-form units) to be used for overtravel monitoring. This is a double-word
floating point or integer value in the range +2,147,483,583 to -2,147,483,583 (Floating
Point) and +2,147,483,647 to -2,147,483,648 (Integer). All types of User Units are
equivalent to pulses. Default is +1,073,741,823.
During Auto Mode operation, if the value of the target position data exceeds this limit in
the forward direction, a position error occurs, and the move is not done. Correcting the
position data and restarting the move cancels the error.
Upper limit
Position (System)
CCW velocity
Upper limit
position
Current position
maintains
+2,147,483,647.
CW
CCW
+2,147,483,64
7
During Manual Mode operation when the Motion Type is Linear, if the target position
exceeds this limit in the forward direction, the position error causes the axis to slow to
a stop.
During Homing Mode, motion continues in opposite direction after it reaches this value,
and continues until the Home Switch is detected or the axis reaches the opposite
position limit. If the Home Switch is detected, normal homing operation takes place. If
the axis reaches the opposite position limit, motion stops with position limit error.
In rotary operation in Manual or Homing Mode, if the target position exceeds this value
in the forward direction, the value rolls over to the minimum position limit and motion
continues.
Common Parameter 21: Lower Position Limit
The lower position limit in the selected Units (pulses, micrometers, inches, degrees, or
free-form units), for overtravel monitoring. See the above description of Upper Position
Limit. This is a double-word floating point or integer value in the range +2,147,483,583
to -2,147,483,583 (Floating Point) and +2,147,483,647 to -2,147,483,648 (Integer). All
units are equivalent to pulses. Default is -1,073,741,824.
In Auto Mode, if the value of the target position data would result in a move in the
reverse direction that is below the Lower Position Limit, a position error occurs and the
11-24
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
move is not performed. If the position data is set correctly and it is restarted, normal
operation is resumed and the error is cancelled.
In Homing Mode, Manual Mode, or Follower operation, if the value of the target
position data would result in a linear move in the reverse direction that would exceed
the Lower Position Limit, it causes a position error and the axis decelerates to a stop.
In Homing Mode, if the axis reaches the Lower Position Limit, motion continues in
opposite direction. Motion continues until either the home switch is detected or the axis
reaches the opposite position limit. If the Home Switch is detected, normal homing
operation takes place. If the axis reaches the opposite position limit, a position limit
error occurs and motion stops.
During rotary operation in Manual Mode, Homing Mode, or Follower operation, if the
target position would result in a move in the reverse direction beyond the Lower
Position Limit, the value is rolled over to the maximum position limit and motion
continues.
Common Parameter 22: Home Position
The Home Position to be used for Homing. Measurement is in the configured User
Units (pulses, micrometers, inches, degrees, or free-form units), with all units
equivalent to pulses. When the homing is completed, the current data is rewritten to
this data. This is a double-word floating point or integer value in the range
+2,147,483,583 to -2,147,483,583 (Floating Point) and +2,147,483,647 to 2,147,483,648 (Integer). Default is 0.
Common Parameter 23: Home Position Offset
The exact adjustment distance when the homing is completed, in the configured User
Units (pulses, micrometers, inches, degrees, or free-form units). If this value is a
positive number, positioning will start in the forward direction. If this value is negative,
positioning will start in the reverse direction. All units are equivalent to pulses. Default
is 0. This is a double-word floating point or integer value in the range +2,147,483,583
to -2,147,483,583 (Floating Point) and +2,147,483,647 to -2,147,483,648 (Integer).
Common Parameter 24: Registration Move Distance
Specify the number of User Units (pulses, micrometers, inches, degrees, or free-form
units) the axis should output when the High-Speed Registration input (above) turns on.
Defaults to10,000. This is a double-word floating point or integer value in the range 0
to +2,147,483,583.
GFK-2471A
Chapter 11 The Common Parameters
11-25
11
Common Parameter 25: Pulses per Motor Rotation for Input
Feedback
If the User Units are not configured to be pulses, this parameter sets up the number of
output pulses that corresponds to one rotation of the motor. The MicroMotion Module
uses this parameter and the User Units per Motor Rotation to scale outputs. Default is
2000 (hex 44FA0000).
Parameter Type
Range
Length
Floating point
10 to 65,535
Double word
Integer
10 to 65,535
Double Word
Common Parameter 26: User Units per Motor Rotation for
Input Feedback
If the User Units are not pulses, this parameter sets up the number of selected Units
(free form, micrometers, inches, degrees) that corresponds to one rotation of the
motor. Default is 2000. This is a double-word floating point or integer value.
Units
Valid range
µm
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer) ( × 0.1 )
inch
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer) ( × 0. 00001 )
Free-form
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer)
degree
+1 to +2,147,483,583(Floating Point)
+2,147,483,647(Integer) ( × 0. 00001 )
Note: When using Free-form User Units, the initial velocity may be the high speed if
the User Units per Motor Rotation parameter is set to a smaller value. In that case, the
User Units per Motor Rotation should be changed. For example: the Initial Velocity is
2000pps and the Pulses per Motor Rotation is set to 2000, the User Units per Motor
Rotation is set to 1 cm, and the Initial Velocity is set to 1 cm/s. If the Initial Velocity
2000pps is too high, the User Units per Motor Rotation should be changed to 10 mm or
to 10000µm.
11-26
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Common Parameter 27: Upper Position Limit for Input
Feedback
The Upper Position Limit in the selected User Units (pulses, micrometers, inches,
degrees, or free-form units) to be used for overtravel monitoring. This is a double-word
floating point or integer value in the range +2,147,483,583 to -2,147,483,583 (Floating
Point) and +2,147,483,647 to -2,147,483,648 (Integer). All types of User Units are
equivalent to pulses. Default is +1,073,741,823.
During Auto Mode operation, if the value of the target position data exceeds this limit in
the forward direction, a position error occurs, and the move is not done. Correcting the
position data and restarting the move cancels the error.
Upper limit
Position (System)
CCW velocity
Upper limit
position
Current position
maintains
+2,147,483,647.
CW
CCW
+2,147,483,64
7
During Manual Mode operation when the Motion Type is Linear, if the target position
exceeds this limit in the forward direction, the position error causes the axis to slow to
a stop.
During Homing Mode, motion continues in opposite direction after it reaches this value,
and continues until the Home Switch is detected or the axis reaches the opposite
position limit. If the Home Switch is detected, normal homing operation takes place. If
the axis reaches the opposite position limit, motion stops with position limit error.
In rotary operation in Manual or Homing Mode, if the target position exceeds this value
in the forward direction, the value rolls over to the minimum position limit and motion
continues.
GFK-2471A
Chapter 11 The Common Parameters
11-27
11
Common Parameter 28: Free-form Units for Outputs
Common Parameter 28 can be used to set up custom User Units for outputs using the
ASCII characters shown below. This parameter has four words of data. Each word
contains two ASCII characters. If fewer than 8 characters are required, unused words
must be filled with ASCII space characters (20h).
Character
Hex
space
20
Decimal Character
32
@
Hex
Decimal
Character
Hex
Decimal
40
64
`
60
96
!
21
33
A
41
65
a
61
97
“
22
34
B
42
66
b
62
98
#
23
35
C
43
67
c
63
99
$
24
36
D
44
68
d
64
100
%
25
37
E
45
69
e
65
101
&
26
38
F
46
70
f
66
102
‘
27
39
G
47
71
g
67
103
(
28
40
H
48
72
h
68
104
)
29
41
I
49
73
i
69
105
*
2A
42
J
4A
74
j
6A
106
+
2B
43
K
4B
75
k
6B
107
,
2C
44
L
4C
76
l
6C
108
-
2D
45
M
4D
77
m
6D
109
.
2E
46
N
4E
78
n
6E
110
/
2F
47
O
4F
79
o
6F
111
0
30
48
P
50
80
p
70
112
1
31
49
Q
51
81
q
71
113
2
32
50
R
52
82
r
72
114
3
33
51
S
53
83
s
73
115
4
34
52
T
54
84
t
74
116
5
35
53
U
55
85
u
75
117
6
36
54
V
56
86
v
76
118
7
37
55
W
57
87
w
77
119
8
38
56
X
58
88
x
78
120
9
39
57
Y
59
89
y
79
121
:
3A
58
Z
5A
90
z
7A
122
123
;
3B
59
[
5B
91
{
7B
<
3C
60
\
5C
92
|
7C
124
=
3D
61
]
5D
93
}
7D
125
>
3E
62
^
5E
94
~
7E
125
?
3F
63
_
5F
95
Del
7F
127
Common Parameter 29: Free-form Units for Input Feedback
Common Parameter 29 can be used to set up custom User Units for input feedback, as
described above for outputs.
11-28
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Common Parameter 30: Window Interval
The overall length of a complete Windowing cycle. (Windowing is a feature of
MicroMotion modules IC200UMM002/102-BB or later). The Windowing Interval must
be more than the CW Band plus the CCW Band. Default is 20000 (469C4000
hexadecimal). For an interval of 1000, the instances would occur at 1000, 2000, 3000,
and 4000 pulses, and so on. Window Interval is a double-word floating point or integer
value. See the table below for ranges.
Velocity
Window
Rate
0
Band
(CW
direction)
Position
Band
(CCW
direction)
Interval
Interval
Common Parameter 31: Window Band, CW
The Window range (distance) in the CW direction from the start of the interval, as
shown above. Double word floating point or integer value. Default is 2000 (44FA0000
hexadecimal). See table below for ranges.
Parameter
type
Floating point
Integer
GFK-2471A
User
Units
Useful range
Remarks
Pulse
+1.0 to -2,147,483,583
Free-form
+1.0 to +2,147,483,583
Set in 1 unit.
µm
+1.0 to +214,748,358.3
Set in 0.1 unit.
inch
+1.00000 to +21,474.83583
Set in 0.00001 unit.
degree
+1.00000 to +21,474.83583
Set in 0.00001 unit.
Pulse
1 to +2,147,483,647
Free-form
1 to +2,147,483,647
µm
1 to +214,748,364.7 (0.1µm)
inch
1 to +21,474.83647 (0. 00001inch )
degree
1 to +21,474.83647 (0.00001 degree )
Chapter 11 The Common Parameters
11-29
11
Common Parameter 32: Window Band, CCW
The Window range (distance) in the CCW direction from the start of the interval.
Default is 2000 (44FA0000 hexadecimal). The CW and CCW Band values can be
different. See the table above for ranges.
Common Parameter 33: Windowing Velocity Override
An optional override rate to be used only while the axis position is within the window
area. Lowering the axis rate within the window can provide greater accuracy in highvelocity applications. Default is 100 (0064hex).Specified as a percent from 1 to 100%.
For example, to reduce the axis speed to 80% of its maximum velocity, enter 80.
Common Parameter 34: Windowing Base Point
The starting point for Windowing. Defaults to 0. Specified as the number of pulses,
µms, inches, degrees or free form units from 0. See table below for ranges.
Parameter
type
Floating point
Integer
User
Units
Useful range
Remarks
Pulse
+2,147,483,583 to -2,147,483,583
Free-form
+2,147,483,583 to -2,147,483,583
Set in 1 unit.
µm
+214,748,358.3 to -214,748,358.3
Set in 0.1 unit.
inch
+21,474.83583 to -21,474.83583
Set in 0.00001 unit.
degree
+21,474.83583 to -21,474.83583
Set in 0.00001 unit.
Pulse
+2,147,483,647 to -2,147,483,648
Free-form
+2,147,483,647 to -2,147,483,648
µm
+214,748,364.7 to -214,748,364.8
inch
(0.1µm)
+21,474.83647 to -21,474.83648
degree
(0. 00001 inch )
+21,474.83647 to -21,474.83648
(0.00001 degree )
11-30
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Guidelines for Changing Parameters
Refer to the information in this section when changing parameters.
The diagram below illustrates the dependencies among the Common Parameters.
Parameter type
User Units
Pulses per Motor Rotation
User Units per Motor Rotation
Velocity Limit
Upper Position Limit
Inching Distance
Maximum Velocity for Manual Mode
Backlash Compensation
Initial Velocity for
Manual mode
Initial Velocity for Auto mode
Home Position
Absolute
value
Home Position Offset
Registration Move Distance
Find Home Velocity
Final Home Velocity
GFK-2471A
Chapter 11 The Common Parameters
LowerPosition Limit
11-31
11
Changing Common Parameters when the User Units are
Pulses
1. First, change the Parameter Type (Floating Point / Integer).
2. When changing parameters related to velocity:
3.
▪
If the Velocity Limit will be changed to the lower value than the Initial Velocity
and/or Maximum Velocity of Manual Mode or the Initial velocity of Auto Mode,
change those parameters to a lower speed before changing the Velocity Limit.
▪
If the Maximum Velocity of Manual Mode will be changed to a lower value than
the Initial Velocity of Manual Mode, change the Initial Velocity to a lower speed
before changing the Maximum Velocity.
▪
If the Find Home Velocity of Homing Mode will be changed to a lower value
that the Final Home Velocity, change the Final Home Velocity to a lower speed
before changing the Find Home Velocity.
When changing parameters related to position:
▪
If the absolute value of the Upper Position Limit will be changed to a lower
value than the current Inching Distance for Manual Mode, Backlash
Compensation, Home Position Offset, or Registration Move Distance, change
those parameters to a lower value before changing the absolute value of the
Upper/Lower Position Limit.
▪
If the Upper Position Limit will be changed to a lower value than the current
combined Home Position plus Home Offset values, change those parameters
to a combined lower value before changing the Upper Position Limit.
▪
If the Lower Position Limit will be changed to a higher value than the current
combined Home Position plus Home Offset values, change those parameters
to a combined higher value before changing the Lower Position Limit.
▪
The Upper Position Limit cannot be set above 2,147,483,647 and the Lower
Position Limit cannot be set below –2,147,483,648 for Integer.
▪
The Upper Position Limit cannot be set above 2,147,483,583 and the Lower
Position Limit cannot be set below -2,147,483,583 for Floating Point.
Changing Input Feedback Parameters
When changing the items above for output pulses, be sure to change related
parameters for Input Feedback pulses.
1.
2.
3.
11-32
Change the Parameter Type (Floating Point / Integer) 1.
Change parameters related to velocity.
Change parameters related to position.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
11
Changing Common Parameters when the User Units are
NOT Pulses
1.
Change the Parameter Type (Floating Point / Integer).
2.
Change the Pulses per Motor Rotation.
3.
Change the User Units per Motor Rotation. The Velocity Limit and Upper and
Lower Position Limits are based on the values for Pulses per Rotation and User
Units per Rotation.
Velocity Limit = 2Mpps × User Units per pulse
Upper Position Limit = 2,147,483,647 / Number of pulses per user unit
(Pulses per Motor Rotation / User Units per Motor Rotation)
Lower limit position = -2,147,483,648 / Number of pulses per user unit
(Pulses per Motor Rotation / User Units per Motor Rotation)
The Upper Position Limit cannot be set above 2,147,483,647 and the Lower
Position Limit cannot be set below –2,147,483,648 for Integer.
The Upper Position Limit cannot be set above 2,147,483,583 and the Lower
Position Limit cannot be set below -2,147,483,583 for Floating Point.
4.
GFK-2471A
When changing parameters related to velocity:
▪
If the Velocity Limit will be changed to a lower value than the Initial Velocity
and/or Maximum Velocity of Manual Mode, or the Initial Velocity of Auto Mode,
change those parameters to a lower speed before changing the Velocity Limit
▪
If the Maximum Velocity of Manual Mode will be changed to a lower value than
the Initial Velocity of Manual Mode, change the Initial Velocity to a lower speed
before changing the Maximum Velocity.
▪
If the Find Home Velocity of Homing Mode will be changed to a lower value
that the Final Home Velocity, change the Final Home Velocity to a lower speed
before changing the Find Home Velocity. Homing velocity does not depend on
the Velocity Limit.
Chapter 11 The Common Parameters
11-33
11
5.
6.
When changing parameters related to position.
▪
Change the Upper Position Limit to a lower value than the value found above.
▪
Change the Lower Position Limit to a higher value than the value found above.
▪
If the absolute value of the Upper Position Limit will be changed to a lower
value than the current Inching Distance for Manual Mode, Backlash
Compensation, Home Position Offset, or Registration Move Distance, change
those parameters to a lower value before changing the absolute value of the
Upper/Lower Position Limit.
▪
If the Upper Position Limit will be changed to a lower value than the current
combined Home Position plus Home Offset values, change those parameters
to a combined lower value before changing the Upper Position Limit.
▪
If the Lower Position Limit will be changed to a higher value than the current
combined Home Position plus Home Offset values, change those parameters
to a combined higher value before changing the Lower Position Limit.
Change the User Units
Changing Input Feedback Parameters
When changing the items above, be sure to change related parameters for Input
Feedback pulses.
11-34
1.
Change the Parameter Type (Floating Point / Integer).
2.
Change the Pulses per Motor Rotation
3.
Change the User Units per Motor Rotation
4.
Change the Upper Position Limit
5.
Change the User Units
6.
Change the Registration Move Distance
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Using the MicroMotion Setup Tool
12
The MicroMotion Setup Tool provides an easy-to-use interface for setting up the
motion parameters of a MicroMotion Module, and for monitoring and executing motion
operations in real time. The MicroMotion Setup Tool is integrated into Proficy Machine
Edition version 5.7 SIM 3 or later. Additional features of MicroMotion Modules
IC200UMM002/102-BB and later (Follower operation, Windowing, breakpoints in
Sequence Tables) require Proficy Machine Edition version 5.9 SIM1 or later.
This chapter explains how to use the MicroMotion Setup Tool to set up, monitor, and
control a MicroMotion Module.
▪
Opening the MicroMoton Setup Tool
▪
Main Window of the Setup Tool
▪
Operating Online or Offline
▪
Monitoring a MicroMotion Module
▪
Reading and Writing Parameter Data
▪
Initializing Motion Module Parameters
▪
Setting Up Communications Parameters
▪
Setting Up Common Parameters
▪
Motion Parameters
▪
Input Parameters
▪
Homing Mode Parameters
▪
Manual Mode Parameters
▪
Auto Mode Parameter
▪
Follower Parameter
▪
Setting Up Profiles for Auto Mode
▪
Setting Up a Sequence Table
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12-1
12
Opening the MicroMotion Setup Tool
To open the MicroMotion Setup Tool from Machine Edition, right-click on the
MicroMotion Module icon (see chapter 13) and select Open VersaMax Micro Motion
Tool:
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12
Setup Tool Main Window
When the Setup Tool is first opened, the Main Window appears.
Accessing Basic Setup Tool Functions
From the Main Window of the Setup Tool, use the pulldown menus or buttons to select
the basic Setup Tool functions:
Online or Offline operation to communicate with a MicroMotion Module for setup,
monitoring, and motion control.
Monitor Motion Module to view motion data from a connected module in real time.
Read from File to read setup data from a file in the computer.
Write to File to save setup data to a file in the computer.
Write to Flash to write setup data to an installed Memory Pack.
Initialize Motion Module to set all motion parameters in the module to their default
values.
Communications Parameters to set up communications for PC / Motion module.
The Main Menu is also the access point for the setup windows for Common
Parameters, Profiles, and the Sequence table.
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Chapter 12 Using the MicroMotion Setup Tool
12-3
12
The same functions are available from the taskbar buttons:
Online/Offline: Start or stop communication with a MicroMotion Module.
In Offline mode, enter the station number of the MicroMotion Module to
connect.
Change the communication parameters of the MicroMotion Module.
Change the communication parameters of Configuration tool.
Enable/Disable Monitor Mode for the Setup Tool.
Read from File: Read parameters from CSV file to the MicroMotion
Module.
Write to File: Save parameters from the MicroMotion Module to a file.
Write to Flash: 0pen a window to communicate with a Memory Pack.
Initialize parameters in the MicroMotion Module (reset parameters to their
defaults).
Open the Common Parameters window.
Open the Profiles window.
Open the Sequence Table window.
Display the firmware and hardware version of the MicroMotion Module.
Display the Version of the MicroMotion Tool
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12
Operating Online or Offline
When the MicroMotion Setup Tool is connected to a MicroMotion Module, the tool can
be either online or offline to the module.
From the Main Window, select Online/Offline or click the Online button to put the Setup
Tool in Online or Offline mode.
Source of Data Displayed by the Setup Tool
In the Common Parameters, Profiles, and Sequence Table windows, the source of the
current data (Device or File) is displayed in the upper right corner.
Offline Mode
File
Device
Device
GFK-2471A
Online Mode
Data being displayed is from
the CSV file in the computer.
Does not appear in Offline
Mode.
Data in the MicroMotion
Module Holding Registers
(not yet being used for
operation.
Data being displayed is from
the Setup Tool; no CSV file
is open.
Operating data of the
MicroMotion Module.
Chapter 12 Using the MicroMotion Setup Tool
12-5
12
Monitoring a MicroMotion Module
When the MicroMotion Setup Tool is connected to a MicroMotion Module, the tool can
monitor the On/Off states of module inputs, and monitor or control motion operations.
In the Main Window, select Monitor Motion Module or click on the Monitor Motion
Module button to put the Setup Tool in Monitor mode.
Common to Axis A and B
For Axis A
For Axis B
The Axis A and Axis B monitoring areas appear when the Setup Tool is in Online
mode.
Display and Clear Axis Errors
In Online mode, the Setup Tool displays any System Errors and Axis Errors. Click X to
clear an error. See chapter 16 for error definitions.
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12
Monitor External Inputs
During operation, with communications established between the MicroMotion Module
and the Setup Tool software and in monitor mode, the Setup Tool shows the states of
the module’s external inputs.
External Input
GFK-2471A
ON (1)
OFF (0)
Positioning Complete (COIN)
Green
Colorless
Home Position Limit (HL)
Green
Colorless
Marker (Z)
Green
Colorless
Forward Overtravel (FO)
Colorless
Red
Reverse Overtravel (RO)
Colorless
Red
Feedrate Override (FE)
Green
Colorless
Jog Forward (JF)
Green
Colorless
Jog Reverse (JR)
Green
Colorless
High-Speed Registration (HSR)
Green
Colorless
Center of axis is within
Windowing area (WND)
Green
Colorless (axis is
outside area)
Drive OK/Ready (DR)
Colorless
Red
Emergency Stop (ES)
Colorless
Red
Chapter 12 Using the MicroMotion Setup Tool
12-7
12
Monitor Axis Position
In the Position area of the Monitor window, the Status field displays the status of the
current axis motion. For example:
The Current Position fields show the current commanded output pulse position (click
on Hold to capture the current position, which will be displayed in the row adjacent to
the “Hold”), and the input feedback pulse from the encoder.
The Position area also displays:
▪
The current velocity
▪
The profile currently being executed. The profile is represented by the number
from 0 to 255 that was assigned on the Profiles setup window of the MicroMotion
Setup Tool. See the illustration below.
▪
The item in the Sequence Table that is currently being executed..
Profile No.
Sequence No.
1
Profile No. 15
2
Profile No. 79
3
Profile No. 3
4
Dwell
5
Profile No. 18
Sequence table
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12
Control Motion Operations
When Monitor Module is enabled, additional control buttons become available for each
axis.
Set/Cancel Manual Mode using external inputs.
Set/Cancel Follower Mode operation of the axis
Switch the Feedrate Override function to run/cancel. (Decelerate the velocity
being output up to the specified percent). The On state of the external input
FE has priority.
Shift a distance specified by common parameters. Click the icon to stop
during manual operation and auto operation (speed control).
Set/Cancel Windowing operation
Set the current position to the profile data
Decelerate and stop the output pulse.
Stop the output pulse immediately.
Control both axis A and axis B when executing the same operation on both
axes. (Displayed inB Axis area)
Perform Free Homing: change the current position to the Home Position
specified in the Common Parameters.
Perform Low-Speed Homing in CW direction.
Perform Low-Speed Homing in CCW direction.
Perform High-Speed Homing (Off edge) in CW direction. Stop at Off edge
of limit switch.
Perform High-Speed Homing (Off Edge) in CCW direction. Stop at Off edge
of limit switch.
Perform High-Speed Homing (Marker) in CW direction. Stop at On edge of
marker input after llimit switch turns on.
Perform High-Speed Homing (Marker) in CCW direction. Stop at ON edge of
marker input after limit switch turns on.
Perform Inching CW, distance specified by common parameters.
Perform Inching CCW, distance specified by common parameters.
Jog in CW direction. Continue until this icon is clicked again or the icon for
Stop/Emergency stop (see above) is clicked.
Jog in CCW direction. Continue until this icon is clicked again or the icon for
Stop/Emergency stop is clicked.
Execute the Sequence Table stored in the module once.
Execute once from the specified start sequence number to breakpoint.
Specify the start sequence number
Execute the Sequence Table stored in the module. At the end, return to the
first profile and start again.
Execute part of sequence table from start sequence number to breakpoint,
continuously.
Execute the specified Sequence Table once.
Execute the specified Sequence Table. At the end, return to the first profile
and start again.
Switch to next profile data by clicking this icon in Auto Mode (speed control).
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Chapter 12 Using the MicroMotion Setup Tool
12-9
12
Control the Output Pulse
The bottom of each axis monitoring area can be used to change the pulse rate, output
pulse position and input feedback pulse position, which are displayed above the
window. Click on the following icons, and enter new values in the fields shown above:
Change the speed being output.
Change the position of the current output pulse.
Change the position of the current input pulse.
Monitor Communications
The bottom of the Monitoring window provides information about communications.
Shows the current communication state
Shows the communication interface
Shows whether the MicroMotion Module is operating in standalone mode,
or being controlled by a Micro PLC CPU (shown as “BU Control”)
This field shows the state of DIP switch 3 on the module. If Switch 3 is set
to On (see chapter 2), “Read from MB” is displayed, If Switch 3 is set to
Off (the default), this field is blank.
In the rightmost field, “Back Up” indicates that the data is being saved in
the module’s backup memory. “MB Back up” indicates that data is being
saved on a Memory Pack.
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12
Initializing Motion Module Parameters
If the Setup Tool is connected to a MicroMotion Module, selecting Initialize sets
parameters in the module to their defaults.
▪
When Initialize is selected from the Main window, all parameters (Common
Parameters, Profile data, Sequence Table), are set back to their defaults.
▪
When Initialize is selected from the Common Parameters window, only Common
Parameters of the respective displayed axis are initialized.
▪
When Initialize is selected from the Profiles window, only Profile data is initialized
▪
When Initialize is selected from the Sequence Table window, only the sequence
table of the displayed axis is initialized.
When Initialize Module Parameters is selected, a confirmation prompt appears.
Read and Writing Parameter Data
Parameters saved a file on the computer can be stored to a MicroMotion Module and
parameters previously stored to a MicroMotion Module can be saved to the file on the
computer.
In the Main window of the Setup Tool, all parameters (Common Parameters, Profile
data, Sequence Table) can be selected or saved. In the Common Parameters window,
the Common Parameters can be selected or saved. In the Profiles window, Profile data
can be selected or saved. In the Sequence Table window, Sequence Table data can
be written or saved.
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Chapter 12 Using the MicroMotion Setup Tool
12-11
12
Saving and Storing Data from the Main Setup Window
From the Main Window:
▪
select Write to File to save the parameters as a CSV file in the computer.
▪
select Write to Flash to save the parameters to an installed Memory Pack.
Specify the parameters to be written, and click OK.
When writing the Common Parameters, Sequence Table, or Profile Data to the
MicroMotion Module or to a file, if the operation is cancelled before it is finished, some
parameters may be written or saved. Clicking Cancel does not undo the operation.
To save parameters to a CSV file, select the filename and location for the file.
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12
Saving Parameters to a MicroMotion Module
When writing parameters directly to a connected MicroMotion Module, the Common
Parameters, Profile data, and Sequence Table data are saved to the module’s backup
memory. When axis parameters (such as setting Manual Mode to operate using
external inputs) are written to the module, a confirmation prompt appears. Click OK to
save the parameters to the module, or Cancel.
Settings for Manual Mode (external input instruction), Follower operation, and
Windowing can be stored in the backup memory. If these are stored in the backup
memory, it is unnecessary to store the settings again when the module is powered On.
The MicroMotion Module starts with the stored settings. Settings stored in the backup
memory are retained even if the setting is cancelled by the occurrence of an error.
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Chapter 12 Using the MicroMotion Setup Tool
12-13
12
Writing Data to a Memory Pack Module
When Write to Flash is selected, the buttons at the top of the window can be used to
format the Memory Pack for use with the MicroMotion Module, and to Initialize the
Memory Pack with the default values of the MicroMotion Module parameters.
Memory board
format
Format the
Me
mory Pack. This sets the value of each parameter to zero.
Memory board
initialization
Initialize the Memory Pack, This sets all parameters to
their factory defaults.
When the Memory Pack has been formatted, Common Parameters, Profile data,
Sequence Table, axis parameters, and system parameters can be written from the
MicroMotion Module to the Memory Pack.
Specify the parameters to be written as shown previously and click OK.
If the operation is cancelled before it is finished, some parameters may be written or
saved.
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12
Setting Up Serial Communications Parameters
If the MicroMotion Module will communicate with a host via an installed Serial
Communications option module (see chapter 3), its communications parameters must
be compatible with the host. To set up the communications parameters, select PLC
Comm Parameters from the Main Window.
The window displays the type of Serial Communications option module that is installed
on the MicroMotion Module.
When DIP switch 1 is turned On, the MicroMotion Module communicates with the
parameters that have been entered using the Setup Tool, or on command from the
CPU or host.
When switch 1 is turned Off, the MicroMotion Module uses default settings 57600, 8-E1, Node ID 1. If you do not know the setting of the Device No. and the Transmission
speed, you can verify each parameter if DIP switch 1 is turned Off.
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Chapter 12 Using the MicroMotion Setup Tool
12-15
12
Setting Up Communications Parameters for the Setup Tool
To configure the parameters that will be used by the MicroMotion module to
communicate with the computer that is running the Setup Tool software, select
Setup>Tool Comm Parameters. By default, the communications method is RS-232C:
RS-232C Communications Parameters
For RS-232C communications, set up the port, baud rate, and transmission format (bits
– parity – stop bits):
▪
Communications Port on the host or programmer can be:
COM1/2/3/4/5/6/7/8/9/10
▪
Transmission Speed can be: 9600, 19200, 38400, 57600, or 115200
▪
Transmission Format can be: (always 8 bits) odd, none or even parity, 1 or 2
stop bits.
Ethernet Communications Parameters
MicroMotion modules IC200UMM002/102-BB and later support Ethernet
communications with the Setup Tool. Select Ethernet in the Tool Comm Parameters
box to edit the Ethernet parameters:
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12
Setting Up Common Parameters
To configure the module’s Common Parameters, select Common Parameters from the
Main Window. Chapter 11 describes all of the Common Parameters.
The Common Parameters window opens. If the Setup Tool is not communicating with
a McroMotion Module, only the setting values are displayed as shown below. Initially,
default values are supplied for each parameter. If a previously-saved setup file (.CSV)
is open, the parameters from the file are displayed, and the word File
appears in
the field in the upper righthand corner of the window.
If the Setup Tool is communicating with a MicroMotion Module, the parameter settings
from the module are displayed, and the word Device
appears in the field in the
upper righthand corner of the window.
There is a Common Parameters tab for Axis A and for Axis B.
If the Setup Tool is communicating with a MicroMotion module, the current values are
also displayed.
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Chapter 12 Using the MicroMotion Setup Tool
12-17
12
The icons at the top of the Common Parameters window provide utilities for handling
the Common Parameters data.
Open an existing Common Parameters file.
Save the Common Parameters to a file.
Save the Common Parameters to a different file.
Reset the Common Parameters window to the default values.
Re-initialize the Common Parameters in the MicroMotion Module to their default
values.
View the Common parameters in the file, or from the MicroMotion Module
“device”.
Check the validity of the Common Parameters.
Read Common Parameters from the module and redisplay.
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12
Changing the Common Parameters in Online Mode
If an individual Common Parameter is changed when the Setup Tool is Online to the
module, related parameters may also need to be changed before the MicroMotion
Module will accept the original change. Chapter 11 provides detailed instructions for
changing parameters in the correct sequence. Please refer to that information before
changing parameters.
If another parameter must also be changed, the MicroMotion Module stores the first
changed parameter in its holding memory, but does not use it. To update the
parameters entered in the tool to the Motion Module, click the OK button in the lower
righthand corner of the Common Parameters screen.
Holding memory in
MicroMotion Module
Common Parameters Table
in MicroMotion Module
Controller or Host
changes this
parameter
Not updated
Change not
implemeted
because this
parameter must
also be changed
After the additional parameter change, the module again checks the validity of the
change. If the subsequent parameter change makes the first parameter change valid,
the module accepts both changed parameters and will use them. This procedure
needs to be continued until there is no error.
Holding memory in
MicroMotion Module
Common Parameters Table
in MicroMotion Module
Validity
check
is now OK
Controller or Host
changes this
parameter
If setting up a Common Parameter fails, the operation cannot be executed until the
error is cleared and a correct parameter is supplied.
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Chapter 12 Using the MicroMotion Setup Tool
12-19
12
Motion Parameters
Set up the basic motion parameters for the axis. The default settings are shown below.
Please see chapter 11 for descriptions of the Common Parameters. Refer to the
parameter numbers below.
Output or Input: Selects whether the axis will control output pulses to a servo
controller, or receive Input Feedback from an encoder.
Pulse Type, Common Parameter 1 bits 14 to 12 if the axis is set up for output pulses
Common Parameter 2 bits 14 and 15 for input feedback.
Motion Type, Common Parameter 1 bit 9 if the axis is set up for output pulses,
Common Parameter 2 bit 9 if the axis is set up for input feedback.
User Units, Common Parameter 1 bits 0-2 for output pulses,
Common Parameter 2 bits 0-2 for input feedback
Parameter Type, Common Parameter 1 bits 3-5 for output pulses,
Common Parameter 2 bits 3-5 for input feedback.
Pulses per Motor Rotation, Common Parameter 4 for output pulses,
Common Parameter 25 for input feedback.
User Units per Motor Rotation, Common Parameter 5 for output pulses,
Common Parameter 26 for input feedback.
Upper Position Limit, Common Parameter 20 for output pulses,
Common Parameter 27 for input feedback).
Lower Position Limit, Common Parameter 21.
Velocity Limit, Common Parameter 6.
Velocity Auto Correct, Common Parameter 3 bit 15.
Acceleration Type, Common Parameter 1 bit 11.
Deceleration Type, Common Parameter 1 bit 11.
Backlash Compensation, Common Parameter 17.
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12
Input Parameters
Operation of most external inputs is established on the Input Configuration area of the
Common Parameters setup screen. Please see chapter 11 for descriptions of the
Common Parameters. Refer to the parameter numbers below.
ES - Emergency Stop Input, Common Parameter 3 bit 12.
FO/RO - Overtravel Input, Common Parameter 3 bit 11.
COIN – Move Complete Input, Common Parameter 3 bit 6.
DR - Drive OK/Ready Input, Common Parameter 3 bit 4.
FE - Feedrate Override Input, Common Parameter 3 bit 2.
Feedrate Override Percentage, Common Parameter 18.
HSR - High-Speed Registration Input, Common Parameter 3 bit 0.
Registration Move Distance, Common Parameter 24.
Window Interval, Common Parameter 30.
Window Base Point: Common Parameter 34.
Window Band, CW: Common Parameter 31.
Window Band, CCW: Common Parameter 32.
Window Deleration Rate: Common Parameter 33.
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Chapter 12 Using the MicroMotion Setup Tool
12-21
12
Homing Mode Parameters
Please see chapter 11 for descriptions of the Common Parameters. Refer to the
parameter numbers below. See chapter 5 for information about Homing Mode.
Home Position, Common Parameter 22.
Final Home Velocity: (Common Parameter 9).
Find Home Velocity (Low, High), Common Parameter 8.
Acceleration Rate, Common Parameter 10.
Deceleration Rate, Common Parameter 11.
Home Position Offset, Common Parameter 23.
Homing Direction, Common Parameter 1, bit 8.
Input Feedback Position, Common Parameter 1 bit 6.
Wait Time of Feedback Pulse, Common Parameter 3, bits 8-9.
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Manual Mode Parameters
Please see chapter 11 for descriptions of the Common Parameters. Refer to the
parameter numbers below. See chapter 6 for information about Manual Mode.
Initial Velocity, Common Parameter 13.
Maximum Velocity, Common Parameter 12.
Acceleration Rate, Common Parameter 14.
Deceleration Rate, Common Parameter 15.
Move Type for External Input, Common Parameter 2, bits 12-13.
Inching Distance, Common Parameter 16.
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Chapter 12 Using the MicroMotion Setup Tool
12-23
12
Auto Mode Parameter
Initial Velocity, Common Parameter 7. Please see chapter 11 for a description of this
parameter. See chapter 7 for information about Auto Mode.
Follower Operation Parameter
The Follower operation feature is available on MicroMotion Modules
IC200UMM002/102-BB or later. Either axis can be set up as the master and the other
as the follower. See chapter 8 for details of Follower operation, and instructions for
setting up an optional Gear Ratio for the Follower axis.
Gear Ratio, Common Parameter 19.
(Stored) Master pulse or velocity value
(Stored) Follower pulse or velocity value
(New) Master pulse or velocity value
(New) Follower pulse or velocity value
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12
Checking the Common Parameters
To check the validity of the Common Parameters, click on the check icon at the top of
the Common Parameters window.
The results of the check are displayed in a new window, which will either indicate No
Error, or list the errors that have been found:
Writing Parameters to the MicroMotion Module
Parameters must be set up for each axis on its respective Common Parameters tab.
After selecting the Common Parameters, they can be written to either axis individually,
or to both at the same time.
When Both A and B is selected at the bottom of the Common Parameters screen, the
parameters set on the Axis A tab and Axis B tab will be written to the axes. (The
parameters on the Axis A and Axis B are for that axis only; selecting Both A and B at
the bottom of the Common Parameters screen will not write the parameters from one
axis tab to both axes in the module.
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Chapter 12 Using the MicroMotion Setup Tool
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12
Setting Up Profiles for Auto Mode
In Auto Mode, operations are performed using position (profile) data that has been set
up in advance. Complex positioning operations can be performed by combining
profiles in a Sequence Table. Please see chapter 7 for details of using profiles and
Sequence Tables.
Defining Profiles in Offline or Online Mode
Up to 256 profiles can be defined for a MicroMotion Module. Profile data is stored in
the module’s backup memory. Profiles can be edited in both online and offline mode.
When the programmer is communicating with the MicroMotion Module, the parameters
in the module are changed. If the programmer is not communicating with the
MicroMotion Module, parameters are set locally, and can be saved as a CSV file.
From this screen:
Open an existing Profile.
Save Profile data to a file.
Save Profile data to a specific filename.
Clear the Profile data in the programmer.
Initialize the Profile data in the connected MicroMotion Module.
Update the parameters in the Current Value row. If “Device” is shown in
the upper right of the window, update the parameters from the
MicroMotion module and re-display.
Open the Sequence table.
Advance or go back one profile
Advance or go back 10 profiles
Change the value in the profile data based on the Common
Parameters. Profile data can be used for both axes. If the
units for the axes are different, the meaning of the associated
profile data changes.
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Profile Numbers
Up to 256 profiles (0 – 255) can be defined. Use the left or right arrows to select a
profile:
The current profile is indicated in the settings area and shown graphically on the
screen.
Current
Profile
In the graphic display, edited profile numbers are represented in dark blue. Profiles
saved in the Motion Expansion Module memory are represented in cyan.
Edited profile data
Profile data in the Motion
Expansion Module.
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Chapter 12 Using the MicroMotion Setup Tool
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12
Axis Pulse Type Settings
The output User Units and input feedback Pulse Type assigned to each axis are
shown in the upper right of the screen.
Two axes can refer to the same profile table.
▪
If the User Units and magnification are not same for both axes, the meaning of the
profile data will also not be the same.
▪
Do not use the same profile data for Axis A and Axis B if they have different Upper
Velocity Limit parameters. At the start of Auto Mode, the module may need to
correct acceleration, deceleration and velocity based on the Upper Velocity Limit
common parameter. After that, the MicroMotion Module performs the positioning
control using the corrected profile data. If the axes are set up with different Upper
Velocity Limits but share the same profiles, the corrected parameter may change
to an unexpected value when the correction is made.
Profile Data Settings
For the fields in the Profiles window, existing values for the profile are shown in the
upper fields. New values can be entered below. After entering a new value, click on
OK.
Comment: Any text. This text can be used to add a profile to the sequence table.
Acceleration Rate: The acceleration currently being set is displayed in the upper
section.
Deceleration Rate: The deceleration currently being set is displayed in the upper
section.
Velocity: The maximum velocity currently being set is displayed in the upper section.
Target Position: The target position currently being set is displayed in the upper
section.
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Teaching Profiles Window
The Teaching Profiles window can be used to register the current position of an axis in
the profile data.
Profile No: The profile number to set. Enter a number, or double-click a cell section in
the lower section of the window.
Acceleration rate: In the teaching profiles window, this field shows the Acceleration
Rate for Manual mode that was previously set up in the Common Parameters
(Common Parameter 14). It can be changed if needed.
Deceleration rate: In the teaching profiles window, this field shows the Deceleration
Rate for Manual mode that was previously set up in the Common Parameters
(Common Parameter 15). It can be changed if needed.
Velocity: In the teaching profiles window, this field shows the Velocity for Manual
mode that was previously set up in the Common Parameters (Common Parameter 12).
It can be changed if needed.
Target position: In the teaching profiles window, this field shows the position of the
axis at the time the teaching icon was clicked. It can be changed if needed.
Setting Value: The value entered in the Setting value box is stored to the specified
profile by clicking OK.
GFK-2471A
Chapter 12 Using the MicroMotion Setup Tool
12-29
12
Setting Up a Sequence Table
The Sequence Table window of the Setup Tool is shown below.
From this screen:
Open a saved Sequence Table.
Save a Sequence Table to a file.
Save a Sequence Table with a specific filename.
Clear the current Sequence Table window.
Initialize the Sequence Table in the connected MicroMotion
Module.
Read the sequence table from the MicroMotion module and
redisplay.
Open the Profile data window.
If Support is checked, the profile No. can be selected by its
descriptive name (comment field).
12-30
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
12
Sequence Table Settings
In Auto Mode, the MicroMotion Module executes the Profiles in a Sequence Table
order starting with the lowest number. The Sequence Table can have up to 499 lines.
See chapter 7 for details of the Sequence Table Parameters.
Profile/Dwell: For each line in the table, specify Profile or Dwell data.
Control: For each Profile, select Position or Speed control.
Position: For Position control, select either either Absolute or Absolute + Incremental
positioning.
Direction: For Speed control, select either Forward or Reverse rotation.
Type: For Position control, the move can Continue to the next profile or Stop. The
MicroMotion Module can execute to 100 continuous profiles.
Acceleration: Set the Acceleration type to Linear or S-Curve.
Deceleration: Set the Deceleration type to Linear or S-Curve.
Rotary: If the axis is set up in the Common Parameters to have its Motion Type:
Rotary, and in the Sequence Table, Control is set to Position and Position is set to
ABS, rotation can be in the shortest direction or in the designated direction.
GFK-2471A
Chapter 12 Using the MicroMotion Setup Tool
12-31
12
Profile No./Dwell Time: For each Profile in the Sequence Table, specify the Profile
Number to be executed. If Support is checked and Profile is selected, select the name
of the profile (from the profile’s Comment field). The names listed are those that have
previously been saved, or stored to the module.
If Dwell is selected (Support is not checked), enter a Dwell time between 1 and
32,768[ms].
Breakpoint: For MicroMotion Modules IC200UMM002/102-BB or later, one or more
profiles in the Sequence Table can be set up as breakpoints. A breakpoint is a profile
at which Auto Mode operation will either stop or return to the starting sequence
number. To set up a profile to act as a breakpoint, double-click on the profile number:
Double-click after moving the mouse cursor.
The breakpoint cannot be a dwell, or a profile with its type set to Continue.
To cancel a breakpoint designation, double-click on a selected breakpoint.
12-32
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
12
Setting Up a Sequence Table to Verify Axis Position
A Sequence Table can be set up to allow the axis to verify its current position.
To set up the Sequence Table:
1. Using a Manual operation, move the axis to its target position.
2. In the main window of the Setup Tool, click on the Teaching icon:
3. The Teaching Profiles window opens,
The Setting Values for acceleration, deceleration, velocity, and target position are
the values from the axis Common Parameters. To change the value, click the
Setting Value area of the parameter.
4. Input the profile number and click OK.
5. Repeat these steps to create additional profiles, as needed.
6. Open the Sequence Table window and create a Sequence Table with the
registered profile data.
GFK-2471A
Chapter 12 Using the MicroMotion Setup Tool
12-33
12
12-34
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Configuring a MicroMotion Expansion Module
13
This chapter explains how to use Proficy Machine Edition to configure a MicroMotion
Module and to access the MicroMotion Setup Tool. These steps are required for a
MicroMotion Module in a VersaMax Micro PLC system, or in a host controller system.
Support for MicroMotion Modules and for the MicroMotion Setup Tool requires Proficy
Machine Edition version 5.7 SIM 3. The additional features of release –BB MicroMotion
Modules (Follower operation, Windowing operation, Sequence Table breakpoints)
require Machine Edition version 5.9 SIM1.
▪
MicroMotion Module Locations
▪
Module Configuration Using Machine Edition
▪
GFK-2471A
▪
Configure the Motion I/O Settings
▪
Configure the Wiring Information
Open the MicroMotion Setup Tool
13-1
13
Module Configuration Using Machine Edition
For a VersaMax Micro PLC or host controller system, the MicroMotion Module must be
present in the Proficy Machine Edition hardware configuration as an entry point to
accessing the MicroMotion Setup Tool.
1. In Machine Edition, create a VersaMax Micro PLC target.
2. In the hardware configuration of that target, right-click on the CPU icon in the Main
Rack, and replace the default CPU with a Micro-20/40/64 PLC CPU.
3. Right-click on the CPU icon and select Add Module.
4. In the Module Catalog, click on the Motion tab. Select the IC200UMM002/102
module:
13-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
13
Configure the Motion I/O Settings for a VersaMax CPU
If the MicroMotion Module is being used as an expansion module in a VersaMax Micro
PLC system, set up its CPU addressing. On the Motion I/O Settings tab, select the
CPU reference address locations for the MicroMotion module’s input and output data.
The lengths are fixed, at 8 words / 128 bits each. The next available reference
addresses appear by default, but can be changed.
These reference locations will be used for all data exchanged between the module and
the PLC CPU. See chapter 14 for details.
Configure the Wiring Information
On the Wiring tab, enter any descriptive information for the module’s external inputs.
GFK-2471A
Chapter 13 Configuring a MicroMotion Expansion Module
13-3
13
Open the MicroMotion Setup Tool
After configuring the module, right-click on the module icon and select Open VersaMax
Micro Motion Tool:
The MicroMotion setup tool is used to configure the motion parameters and to monitor
and control module operations. See chapter 12 for information.
Using the MicroMotion Setup Tool with Version –AA
MicroMotion Modules
When using the MicroMotion Setup Tool integrated into Machine Edition revision 5.9
SIM1 with version –AA MicroMotion Modules, the configuration tool operates as
follows.
13-4
▪
Common Parameters: only Common Parameters applicable to version –AA
modules can be added. Common Parameters for version –BB modules cannot be
added to revision –AA modules. Common Parameters for version –BB modules
(such as Windowing, Follower operation, and Sequence Table breakpoints), are
indicated in this manual.
▪
Specified Sequence Table: version –AA MicroMotion Modules do not support
breakpoints in a Sequence Table. If a Sequence Table that includes a breakpoint
is executed, the MicroMotion Module generates an error.
▪
Windowing cannot be enabled on –AA MicroMotion Modules; the WND icon is
disabled.
▪
Follower operation can be set up for –AA modules, but it is not supported by the
module firmware. Follower operation is cancelled.
▪
If a setup (CSV) file that was created using the Setup Tool in Machine Edition
version 5.7 SIM3 is read while the Setup Tool in Machine Edition 5.9 SIM1 is
connected to a –AA MicroMotion Module, the Setup Tool displays default or 0
values for –BB features. These values are not meaningful; version –BB features
are not available on –AA modules.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Exchanging Data with a VersaMax Micro PLC CPU
Chapter
14
This chapter describes how to set up, monitor, and control a MicroMotion Module
through its regular exchange of data with a VersaMax Micro PLC CPU.
▪
Expansion Operation in a VersaMax Micro PLC
▪
▪
Data Exchange Between the CPU and MicroMotion Module
Output Control Data Sent by the VersaMax Micro PLC CPU
▪
Commands
▪
▪
▪
▪
Sending Commands
GFK-2471A
Send Commands that Write No Additional Data to the Module
Write Up to Seven Data Words to the Module
Execute Sequence Table to Breakpoint: Commands 34 and 35
Write Custom User Units: Commands 7C and 7D
Write Profile Parameter Data: Commands 90 and 91
Write Profile Parameter Data: Commands 92 - 95
Write Port Module Communications Parameters: Command 9F
Input Status Data Word 1: Handshaking and Axis Status
Input Status Data Word 2: External Input States
Input Status Data Words 3 and 4: Axis Data
▪
▪
Example Ladder Logic for Commands
Input Status Data Sent by a MicroMotion Module
▪
▪
▪
Command List
Error Status when Sending Commands
▪
▪
▪
▪
▪
▪
▪
▪
▪
Sequence of Writing Parameters and Motion Data
Input Status Data Words 3 and 4: Windowing and Write Status Bits
Input Status Data Words 5 to 8: Status or Requested Data
14-1
14
Expansion Operation in a VersaMax Micro PLC
A VersaMax Micro PLC system can include up to two MicroMotion Modules as
expansion modules controlled by the PLC CPU. The VersaMax Micro PLC CPU must
be version 3.81 or later.
Programming and configuration of the Micro PLC itself are done using the Proficy
Machine Edition software.
From the VersaMax Micro PLC, setup, control, and monitoring of MicroMotion
expansion modules can be performed in two different ways:
▪
Using the MicroMotion Setup and Monitoring tool that is integrated into the
Machine Edition software.
▪
Using the module’s regularly-exchanged input and output data.
For additional flexibility, motion operations can also be set up, monitored and
controlled by a host controller using the integrated Machine Edition MicroMotion Setup
Tool, or by using MODBUS commands. See chapter 15 for information about the
MODBUS interface to a MicroMotion Module.
Machine Edition
software with integrated
MicroMotion Setup tool
.
14-2
VersaMax Micro
PLC CPU
Host Computer
1 or 2 MicroMotion
Modules
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Data Exchange Between the CPU and MicroMotion Module
All data exchange between the VersaMax PLC CPU and a MicroMotion expansion
module takes place using the eight words of input data and eight words of output data
that are assigned CPU reference addresses when the module is configured. The
VersaMax PLC CPU automatically writes the output data to the module and refreshes
the input data from the module during each scan of the I/O.
VersaMax Micro PLC
CPU
Output Control Data
MicroMotion
Expansion Module
Input Status Data
.
The application can use the output data to send commands to the module, and use the
input data to read status and operating data from the module.
Although a MicroMotion Module is assigned only eight input words and eight output
words in the CPU, more than eight words of data can be exchanged in multiple I/O
scans.
The most significant bit of first words of the MicroMotion module’s Input Status Data
and Output Control Data act as handshaking bits. By monitoring and setting these
handshaking bits, the application program in the VersaMax CPU can control data read
and write operations.
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-3
14
Output Control Data Sent by the VersaMax Micro PLC CPU
Each scan of the I/O, the Micro PLC CPU automatically sends to a MicroMotion
expansion module the contents of its eight configured output reference addresses.
The first word of this output data always has the same format, which is illustrated
below. The application in the PLC CPU can use words 2 through 8 to send data or
commands to the module. Sending more than 6 words of data requires multiple scans.
Handshake: Transmit / Receive controller bit.
Reset handshake = 1
Execute command on Axis A = 1
Execute command on Axis B = 1
Switch Bank of Status Register
0 = Report Axis Profile Number
1 = Monitor Input Status bits
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
6
BNK RUN
5
4
3
2
1
0
Command Number
Word 2
Word 3
Word 4
Word 5
Used to send
data and commands
to the module
Word 6
Word 7
Word 8
Bit 15 of word 1 is the output handshaking bit. Word 1 also contains the command
number to be executed, and additional bits to specify one axis or both to receive the
command. Word 1 is also used to enable or disable the module’s pulse output.
14-4
HS
Output handshake bit. The application program in the PLC CPU needs to set or
reset this control bit to transmit data to or receive data from a MicroMotion Module.
RES
Reset handshake. If handshaking communications between the CPU and
MicroMotion Module are interrupted, the application program in the PLC CPU
should set bit 14 to 1 to reset handshaking. The command that was interrupted
must be sent again.
BNK
This bit can be used to specify what is returned in words 3 and 4 of the Input Status
Data from the module. By default, the Auto Mode profile number is displayed. The
content of these words can be changed to display the axis position in windowing
and the status of a memory write operation. 0 = display profile number. 1 = display
axis position and memory write status.
RUN
The Run bit is controlled by the PLC CPU. The CPU sets this bit based on the
operating mode of the CPU. It is set to 1 while the PLC CPU is running. It is set to
0 if CPU is in Stop mode, to stop the pulse output of MicroMotion Module.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Commands
This section describes the commands that can be sent from the VersaMax Micro PLC
CPU to a MicroMotion Module. Commands are sent in word 1 of the module’s Output
Control data.
If several handshakes are needed when transmitting data, the number of words being
written must be set into the beginning of the transmitted data. This is shown in the
examples in this section. Similarly, when several handshakes are needed for the
response, the number of words being read is specified in the beginning of the
response. Input data formats are shown in the next section.
For some commands, if the instruction is sent to both axes, the axes can start
simultaneously. For commands that cannot be executed by both axes simultaneously,
Axis A will start first if the instruction is sent to both axes.
Sequence of Writing Parameters and Motion Data
When writing data to the module, parameters should be set in the following sequence:
1.
Common parameters.
2.
Profile data, which defines specific individual profiles for use in Auto Mode.
3.
Sequence Table data.
The MicroMotion Module checks parameters for validity, and flags an error if an
incorrect parameter is detected. See chapter 16 for information about error codes.
Common parameters, profile data, and Sequence Table data must be written to a
MicroMotion Module when the module is stopped. If this data is written to the module
during operation, the data is not used or stored.
Storing Operating Data to Backup Memory
When writing parameters directly to a connected MicroMotion Module, the Common
Parameters, Profile data, Sequence Table data, and system parameters are
automatically saved to the module’s backup memory. Axis operational information
(such as setting up Manual Mode to operate using external inputs) is not automatically
written to backup memory. The Micro PLC CPU can send command 9E (hex) to the
module to store all current axis operating information to backup memory.
If the MicroMotion Module loses power while data is being stored, some data is lost.
Parameters that have already been stored will be restored properly when power is
turned on. Parameters that have not yet been stored will be set to an indefinite value.
The ST2 LED on the MicroMotion Module shows the status of the backup operation.
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-5
14
Command List
This section lists all commands the VersaMax Micro PLC CPU can send to a
MicroMotion expansion module.
The number of data words listed for each command refers to the data being read or
written in the variable part of the Output Control Data and the Input Status data. When
writing data, the data length listed starts at word 2 of the Output Control Data. When
reading data, the data length listed starts at word 5 of the Input Status Data.
In the table, asterisks indicate when the command can be executed, and whether
specific module versions are required.
*
**
Command can execute during operation.
Requires MicroMotion Module IC200UMM002/102-BB or later
Command List
Command
Number
(hex)
01
14-6
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
* Clear all errors (System & Axis)
Not needed
0
0
02
* Clear System errors
Not needed
0
0
03
* Clear axis error
A / B / AB
0
0
10
Perform Free Homing
A / B / AB
0
0
11
Perform Low speed Homing, (CCW
direction) A and B can start at same time
A / B / AB
0
0
12
Perform Low speed homing, (CW
direction) A and B can start at same time
A / B / AB
0
0
13
Perform High speed Homing, Off Edge
(CCW) A and B can start at same time
A / B / AB
0
0
14
Perform High speed Homing, Off Edge
((CW) A and B can start at same time
A / B / AB
0
0
15
Perform High speed Homing, Marker Pulse
(CCW) A and B can start at same time
A / B / AB
0
0
16
Perform High speed Homing, Marker Pulse
(CW) A and B can start at same time
A / B / AB
0
0
17
* Stop
A / B / AB
0
0
18
* Normal (decelerated) stop
A / B / AB
0
0
19
* Execute Feedrate Override
A / B / AB
0
0
1A
* Cancel Feedrate Override
A / B / AB
0
0
1B
* Perform Register distance move
A / B / AB
0
0
1C
Switch speed control profile
A / B / AB
0
0
1D
* Change velocity
A / B / AB
2 per axis
0
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
1E
Write Current position (pulse output)
A / B / AB
2 per axis
0
1F
Write Current position (pulse input)
A / B / AB
2 per axis
0
* Read Current position, at the moment the
command is received. The actual position
may have changed.
A / B / AB
20
0
2 per axis
21
** Perform Follower Operation
A or B
0
0
22
** Cancel Follower Operation
A or B
0
0
23
Manual operation: Use external input
instruction mode
A / B / AB
0
0
24
Manual operation: Cancel external input
instruction mode
A / B / AB
0
0
27
* ** Enable Windowing
A / B / AB
0
0
28
* ** Cancel Windowing
A / B / AB
0
0
30
Auto Mode: Execute Single cycle of the
Registered sequence table stored in the
module. A and B can start at same time
A / B / AB
0
0
31
Auto Mode: Execute Single cycle of the
sequence table data supplied in the
command.
A or B
Sequence
table +1
0
32
Auto Mode: Execute Continuous cycles of
the Registered sequence table stored in
the module. A and B can start at same
time
A / B / AB
0
0
33
Auto Mode: Execute Continuous cycles of
the sequence table data supplied in
command.
A or B
Sequence
table +1
0
34
** Auto Mode: Execute Single cycle of the
Registered sequence table to the
breakpoint.
A / B / AB
1 per axis
0
35
** Auto Mode: Execute Continuous cycles
of the Registered sequence table to the
breakpoint.
A / B / AB
1 per axis
0
40
Perform Manual Jog operation
(consecutive pulse output/CCW direction)
A and B can start at same time
A / B / AB
0
0
41
Perform Manual Inching (designated
distance pulse output/CCW direction) A
and B can start at same time
A / B / AB
0
0
42
Perform Manual Jog operation
(consecutive pulse output/CW direction) A
and B can start at same time
A / B / AB
0
0
GFK-2471A
A / B / AB
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-7
14
Command List
Command
Number
(hex)
43
50
Command Description
Perform Manual Inching (designated
distance pulse output/CW direction) A and
B can start at same time
Initialize all parameters
Axis
Specification
0
0
0
0
0
0
0
0
1
0
0
65 per
axis
(required
length)
0
51
Initialize common parameters
52
Clear all data profiles
Not needed
53
Clear specific data profile
54
Clear sequence table
Not needed
A / B / AB
60
Set all Common Parameters
61
A / B / AB
A / B / AB
1 per axis
0
User Units: Pulses, inches, micrometers, degrees, free-form (ASCII)
3-5
Parameter Type: Floating Point or Integer units
6
Homing (Input Pulse): Independent or dependent
7
Backlash Compensation: Measured in Scaled Units, or Unscaled Pulses
8
Homing Direction, Rotary Mode: Commanded or shortest direction
9
Motion Type: Linear or Rotary
10
Deceleration Type: Linear or S-Curve
1 per axis
0
0-2
User Units: Pulses, inches, micrometers, degrees, free-form (ASCII)
3-5
Parameter Type: Floating Point or Integer units
6-8
9
14-8
0
0-2
11
Acceleration Type: Linear or S-Curve
12-14 Pulse Type: direction / CW pulse / CCW pulse
Set Common Parameters for input
feedback (Common Parameter Word 2,
A / B / AB
see chapter 11 for details)
Bits
Parameter
62
Written
Data Words
Read
A / B / AB
Not needed
A / B / AB
Set Common Parameters for outputs
(Common Parameter Word 1, see chapter
11 for details)
Bits
Parameter
Data
Words
Final Home Velocity for High-Speed Homing, 50pps – 6400pps
Motion Type: Linear (no position rollover), Rotary (position rollover)
12-13
Move Type for External Inputs: Jog, Inching, Inching + Jog
14-15
Pulse Type: Up/down Signal, x1, x2, x4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
Set Common Parameters for external
inputs (Common Parameter Word 3, see
chapter 11 for details)
Bits
Parameter
63
Data
Words
Axis
Specification
A / B / AB
Written
1 per axis
0
Enable HSR Input= 0, disable = 1
2
Enable Feedrate Override (FE) Input = 0, disable = 1
4
Enable Drive OK (DR) Input = 0, disable = 1
6
Enable Move Complete (COIN) Input = 0, disable = 1
8-9
10
Data Words
Read
0
Homing Wait Time: 100 / 250 / 500 / 1000ms
Operation at Overrun: 0 = fast stop. 1 = decelerated stop
11
Enable Overrun (Forward or Reverse) Input = 0, disable = 1
12
Operation at Emergency Stop: 0 = fast stop, 1 = decelerated stop
64
15
Velocity Auto-Correct = 0, disable = 1
Set Pulses per Motor Rotation [output]
A / B / AB
2 per axis
0
65
Set User Units per Motor Rotation [output]
A / B / AB
2 per axis
0
66
Set Velocity Limit
A / B / AB
2 per axis
0
67
Set Initial Velocity for Auto Mode
A / B / AB
2 per axis
0
68
Set Find Home Velocity for homing (high)
A / B / AB
2 per axis
0
69
Set Find Home Velocity for homing (low)
A / B / AB
2 per axis
0
6A
Set homing Acceleration Rate
A / B / AB
2 per axis
0
6B
Set homing Deceleration Rate
A / B / AB
2 per axis
0
6C
Set Maximum Velocity for Manual Mode
A / B / AB
2 per axis
0
6D
Set Initial Velocity for Manual Mode
A / B / AB
2 per axis
0
6E
Set Acceleration Rate for Manual Mode
A / B / AB
2 per axis
0
6F
Set Deceleration Rate for Manual Mode
A / B / AB
2 per axis
0
70
Set Inching Distance for Manual Mode
A / B / AB
2 per axis
0
2 per axis
1 per axis
0
71
Set Backlash Compensation
A / B / AB
72
Set Feedrate Override Percentage
A / B / AB
73
Set Gear Ratio for Follower mode
A / B / AB
2 per axis
0
74
Set Upper Position Limit [output]
A / B / AB
2 per axis
0
75
Set Lower Position Limit [output]
A / B / AB
2 per axis
0
76
Set Home Position for homing
A / B / AB
2 per axis
0
77
Set Home Position Offset for homing
A / B / AB
2 per axis
0
78
Set Registration Move Distance
Set Pulses per Motor Rotation [input
feedback]
Set User Units per Motor Rotation [input
feedback]
A / B / AB
2 per axis
0
A / B / AB
2 per axis
0
A / B / AB
2 per axis
0
79
7A
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
0
14-9
14
Command List
Command
Number
(hex)
14-10
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
7B
Set Upper Position Limit [input feedback]
A / B / AB
7C
Set User Units [input feedback]
A / B / AB
2 per axis
4 per axis
0
7D
Set User Units [output pulse]
A / B / AB
4 per axis
0
7E
** Set Interval for Windowing
A / B / AB
2 per axis
0
7F
** Set CW Band for Windowing
A / B / AB
2 per axis
0
80
** Set CCW Band for Windowing
A / B / AB
2 per axis
0
81
** Set Velocity Override for Windowing
A / B / AB
1 per axis
0
82
** Set Windowing Base Point
A / B / AB
0
90
Set profile data
0
0
91
Set one profile
Not needed
2 per axis
9 per
profile
9 words
92
Set Acceleration Rate for one profile
Not needed
3 words
0
93
Set Deceleration Rate for one profile
Not needed
3 words
0
94
Set Velocity for one profile
Not needed
3 words
0
95
Set Target Position for one profile
Not needed
3 words
0
A or B
Sequence
table +1
0
A / B / AB
0
0
98
Write Sequence table
9E
Write axis operating information to backup
memory in the module
Not needed
0
9F
Set communication parameters
Not needed
2
0
A0
Return Current Axis Position (default)
A / B / AB
0
4
A1
Return Current Velocity
A / B / AB
0
4
A2
Return Currently-executing Profile in Auto
Mode
A / B / AB
0
4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
Return Axis Status
Bits
15-12
A3
Data
Words
Written
A / B / AB
Data Words
Read
0
4
Description
Type
Mode
(hex)
Axis
Specification
0
Idling status (not operating in any operating mode)
1
Performing Free Homing
2
Performing low-speed homing (forward direction)
3
Performing low-speed homing (reverse direction)
4
Performing High-Speed Homing [Off Edge] (forward)
5
Performing High-Speed Homing [Off Edge] (reverse)
6
Performing High-Speed Homing [Marker] (forward
direction)
7
Performing High-Speed Homing [Marker] (reverse
direction)
8
Manual operation (stopped) [External input mode]
9
Manual operation (operating) [External input mode]
A
Manual operation (controlled by command)
B
Auto Mode (positioning control)
C
Auto Mode (speed control)
D
Follower mode: operating
E
Follower Mode: stopped
11
O.RU
N
1 = axis has overrun error. 0 = no overrun or the overrun is
cancelled.
10
Dwell
In Auto Mode, 1 = Dwell, even in idle state. The Dwell bit is
independent of bits 12-15. The hex value of word 5 or word 7 can
be: B400hex (dwell during positioning control); C400hex (dwell
during speed control); 0400hex (Dwell at start of Auto operation).
9
HSR
In Auto or Manual Mode, this is 1 while the positioning by the
HSR input.
8
FE
In Auto or Manual Mode, 1=speed controlled by the Feedrate
Overwrite input.
7
JF
In Manual Mode, 1= rotating in forward direction.
6
JR
In Manual Mode, 1= rotating in reverse direction.
4
WND
* Axis has moved into the Windowing area = 1. In Windowing
mode, WND does not turn on for a follower axis that is within the
window area.
A4
Return System Errors
Not needed
0
2
A5
Return Communications Status
Not needed
0
4
A6
Return Axis A Position and Velocity
Not needed
0
4
A7
Return Axis B Position and Velocity
Not needed
0
4
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-11
14
Command List
Command
Number
(hex)
14-12
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
A8
Return Axis A Output Position and Input
Feedback Position
Not needed
0
4
A9
Read Axis B Output Position and Input
Feedback Position
Not needed
0
4
AA
Read Hardware Version
Not needed
0
1
2
AE
Return system and axis errors
Not needed
0
AF
Read Return Firmware Version
Not needed
0
2
B0
Read All Common Parameters
A / B / AB
0
65** per
axis
B1
Read Common Parameters for outputs.
See Command 61 for bit definitions.
A / B / AB
0
1 per axis
B2
Read Common Parameters for input
feedback. See command 62 for bit
definitions.
A / B / AB
0
1 per axis
B3
Read Common Parameters for external
inputs. See command 63 for bit definitions.
A / B / AB
0
1 per axis
B4
Read Pulses per Motor Rotation
A / B / AB
0
2 per axis
B5
Read User Units per Motor Rotation
A / B / AB
0
2 per axis
B6
Read Velocity Limit
A / B / AB
0
2 per axis
2 per axis
B8
Read Find Home Velocity for homing (high)
A / B / AB
0
B9
Read Find Home Velocity for homing (low)
A / B / AB
0
2 per axis
2 per axis
BA
Read Homing Acceleration Rate
A / B / AB
0
BB
Read Homing Deceleration Rate
A / B / AB
0
2 per axis
BC
Read Maximum Velocity for Manual Mode
A / B / AB
0
2 per axis
BD
Read Initial Velocity for Manual Mode
A / B / AB
0
2 per axis
2 per axis
BE
Read Acceleration Rate for Manual Mode
A / B / AB
0
BF
Read Deceleration Rate for Manual Mode
A / B / AB
0
2 per axis
C0
Read Inching Distance for Manual Mode
A / B / AB
0
2 per axis
C1
Read Backlash Compensation
A / B / AB
0
2 per axis
1 per axis
C2
Read Feedrate Override Percentage
A / B / AB
0
C3
Read Gear Ratio in Follower mode
A / B / AB
0
2 per axis
2 per axis
C4
Read Upper Position Limit
A / B / AB
0
C5
Read Lower Position Limit
A / B / AB
0
2 per axis
C6
Read Home Position for homing
A / B / AB
0
2 per axis
C7
Read Home Position Offset for homing
A / B / AB
0
2 per axis
2 per axis
2 per axis
C8
Read Registration Move Distance
A / B / AB
0
C9
Read Pulses per Motor Rotation
[input feedback]
A / B / AB
0
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
CA
Read User Units per Motor Rotation
[input feedback]
A / B / AB
0
CB
Read Upper Position Limit [input feedback]
A / B / AB
0
2 per axis
CC
Read User Units [input feedback]
A / B / AB
0
4 per axis
CD
Read User Units [output pulse]
A / B / AB
0
CE
** Read Interval for Windowing
A / B / AB
0
4 per axis
2 per axis
CF
** Read CW Range for Windowing
A / B / AB
0
2 per axis
D0
** Read CCW Range for Windowing
A / B / AB
0
2 per axis
D1
** Read Velocity Override for Windowing
A / B / AB
0
1 per axis
D2
** Read Base Point for Windowing
2 per axis
Read all profile data
A / B / AB
Not needed
0
E0
0
9 per profile
E1
Read specific profile
Not needed
0
9
A / B / AB
0
Sequence
table length
2 per axis
E8
Read Sequence Tables
F0
Format Memory Pack
Not needed
0
0
F1
Initialize Memory Pack: set Common
Parameters, Profiles, and Sequence Table
to their default values.
Not needed
0
0
F2
Write All to Memory Pack; Common
Parameters, Profiles, Sequence Table
Not needed
0
0
F3
Write Common Parameters to Memory
Pack
A / B / AB
0
0
F4
Write All Profiles to Memory Pack
Not needed
0
0
F5
Write All Profiles to Memory Pack (same
as F4)
Not needed
1
0
F6
Write Sequence Table to Memory Pack
A / B / AB
0
0
F7
Write System Parameters to Memory Pack
Not needed
0
0
F8
Write Axis Operation Data to Memory Pack
A / B / AB
0
0
Error Status when Sending Commands
If an abnormal axis or system error occurs, the error must be cleared before the
following commands can be executed:
▪
▪
▪
GFK-2471A
Homing Mode: 10 to 16 (hexadecimal)
Auto Mode: 30 to 33 (hexadecimal)
Manual Mode: 40 to 43 (hexadecimal)
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-13
14
Sending Commands
To execute a command to a MicroMotion Module, the application logic should follow
these steps:
1. If the command will write data to the module (that is, data in addition to the
command itself), place the additional data in words 2 to 8 of the module’s
configured output data CPU references.
2. In Word 1 of the output data:
▪
Specify the axis on which the command will be executed by setting bit 13 for
Axis A and/or bit 12 for Axis B. (If it is not an axis command, bits 12 and 13 are
ignored).
▪
Enter the command number in bits 0-7, in hexadecimal format.
▪
Last, set the Handshake Bit (bit 15) to 1. Because the PLC CPU sends the
data automatically, the handshake bit should not be set until the rest of the
Output Status data is ready to send.
The example below shows the Output Control Data format that would be used if the
PLC CPU sends command A6 to the module, which changes for format of the Input
Status Data. Because command A6 writes no additional data to the module, words
2 to 8 can retain their present value. For this example, the final hexadecimal value
of word 1 of the Output Control Data is A0 A6.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
1
0
1
0
0
0
HS
RES
CH1
CH2
-
-
0
0
BNK RUN
A6 [hex]
Command Number
Word 2
Word 3
Word 4
Word 5
Not used
(Words 2 to 8 hold their previous values)
Word 6
Word 7
Word 8
3. Check the Input Status Data returned by the module.
4. In this example, when bit 15 of the Input Status Data has been set to 1 by the
module, the application program in PLC CPU should clear bit 15 of the Output
Control Data to 0. This Output Control Data will automatically be sent to the
module in the next I/O scan. Because bit 15 of the Output Control Data is now 0,
the module knows that the command is complete.
14-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Example Ladder Logic for Commands
The ladder logic on the next page is an example for controlling communications
handshaking between the Micro PLC CPU and a MicroMotion expansion module.
▪
Rung 2 is for commands that write data to the MicroMotion expansion module.
When the SetData contact is set, the CPU writes the data into the module’s
assigned output references, starting at word 2. [For the example shown on the
previous page no additional data is written to the module, so the Set Data contact
would not be set and rung 2 would not execute.]
▪
Rung 4 moves data into word 1 of the module’s output references when the
contact SetCtrlReg is set. This includes the command number and axis
specification. [For the example shown on the previous page, the value of this word
is A0A6]. Execution of the Move turns coil chkXHS On.
▪
In Rung 6, when chkXHS goes On, the application logic starts checking bit 16 (the
handshake bit) in the MicroMotion module’s Input Status Data. When the
handshake bit has been set to 1, the CPU turns On the Set Coil XHS. XHS
remains On until it is reset
▪
Rung 8 is used only if the command reads data from the module. When the
application logic detects that the XHS contact is set in the module’s Input Status
Data references, it must move the data out of the references into another memory
location. The execution of that move sets the ResetYHS coil.
▪
In Rung 10, if both ResetYHS and XHS are set, the application logic sets the CPU
handshaking bit back to 0. [For the example shown on the previous page, the CPU
places the hex value 20A6 into the module’s Output Control References.]
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-15
14
▪
14-16
For commands that read or write more data, the steps are repeated until all of the
data has been read or written.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Commands that Write No Additional Data to the Module
The Micro PLC CPU can send commands to cause a MicroMotion expansion module
to perform an action, such as clearing an error, stopping an axis, or returning the
current axis velocity in the module’s Input Status Data. An example using this format
was shown on the previous pages.
These commands, command numbers 01 through 1C, 20 through 30, 32, 40 through
52, 54, 9E, A0 to F4, and F6 to F8, write no additional data to the module beyond the
first word of the Output Control Data, which contain the command itself. For a complete
list of command definitions, please see the Command List earlier in this chapter.
Output Control Data Format for Commands that Write No Additional Data
When sending commands that write no additional data to the module, only the first
word of the Output Control Data is used. Words 2 to 8 can retain their existing values.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
9
8
HS
RES
CH1
CH2
-
-
BNK
RUN
7
6
5
4
3
2
1
0
Command Number
Word 2
Word 3
Word 4
Word 5
Not used
(Words 2 to 8 hold their previous values)
Word 6
Word 7
Word 8
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-17
14
Commands that Write Up to Seven Data Words to the Module
In one scan of the Output Control Data, the Micro PLC CPU can send commands that
write up to seven words of data to a MicroMotion expansion module. This includes
most of the write commands in the Command List.
Output Control Data Format for Writing One-Word Parameters
The Micro PLC should use this format to send the following commands to a
MicroMotion expansion module: 53, 61 to 63, 72, 81, F5.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
Word 2
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
BNK RUN
6
5
4
3
2
1
0
Command Number (hexadecimal)
Parameter for Axis A
Word 3
Word 4
Word 5
Word 6
Word 7
Parameter for Axis B
Not used
(Words 4 to 8 hold their previous value)
Word 8
14-18
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Output Control Data Format for Writing Two-Word Parameters
The Micro PLC should use this format to send the following commands to a
MicroMotion expansion module: 1D to 1F, 64 to 71, 73 to 7B, 7E to 80.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
BNK RUN
6
5
4
3
2
1
0
Command Number
Word 2
Axis A Parameter [lower word]
Word 3
Axis A Parameter [upper word]
Word 4
Axis B Parameter [lower word]
Word 5
Axis B Parameter [upper word]
Word 6
GFK-2471A
Word 7
Not used
Word 8
(Words 6 to 8 hold their previous values)
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-19
14
Execute Specified Sequence Table: Commands 31 and 33
A Specified Sequence Table takes precedence over a Registered Sequence Table
already stored in the module. To write and execute a Specified Sequence Table, the
VersaMax PLC CPU can send command 31 or 33 to a MicroMotion Module:
31
Execute single cycle of the Sequence Table supplied in the command.
33
Execute repeated cycles of the Sequence Table supplied in the command.
The command specifies the number of steps in the sequence, followed by the actual
sequence data. See chapter 7 for details of the data format of a sequence table and of
a profile.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
14
13
12
11
HS
RES
CH1
CH2
-
10
-
9
8
BNK RUN
7
6
5
4
Number of Words that follow (4)
Word 3
Number of Sequence Steps (3 in this example)
Word 4
Sequence Step number 1
Word 5
Sequence Step number 2
Word 6
Sequence Step number 3
Word 8
3
2
1
0
Command Number (31 / 33)
Word 2
Word 7
14-20
15
Not used
(Unused words hold their previous values)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Execute Sequence Table to Breakpoint: Commands 34 and 35
To execute a Registered Sequence Table (that is, a Sequence Table stored in the
module’s backup memory) to the next sequence number that has been set up as a
breakpoint, the VersaMax PLC CPU can send command 34 or 35 to a MicroMotion
Module:
34
Execute Single Cycle of Registered Sequence Table to the Breakpoint
35
Execute Continuous Cycles of Registered Sequence to the Breakpoint.
The use of breakpoints in a Registered Sequence Table requires a MicroMotion
Module revision –BB or later.
For commands 34 and 35, the data written to the module is used to specify the starting
sequence number for Axis A and / or Axis B. The starting sequence number can be
any sequence number in the Sequence Table.
The breakpoint must be a sequence that is specifically set up for that purpose, as
described in chapter 7. If word 2 or word 4 is not used, it should be filled with zeros.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
BNK RUN
7
6
5
4
Axis A Parameter starting sequence number
Word 3
Not used, must be 0
Word 4
Axis B Parameter starting sequence number
Word 5
Not used, must be 0
Word 7
2
1
0
Command Number (34 / 35)
Word 2
Word 6
3
Not used
(Words 6 to 8 hold their previous values)
Word 8
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-21
14
Write Custom User Units: Commands 7C and 7D
To write custom ASCII units one axis or to both axes, the Micro PLC can send the
following commands to a MicroMotion expansion module.
7C
Set User Units [input feedback]
7D
Set User Units [output pulse]
These commands send four data words per axis, with two ASCII characters per word.
The Output Control Data format and Communications Sequence for sending these
commands to one axis is sent below. The format and sequence used for two axes is
shown next.
Output Control Data Format for Commands 7C and 7D: One Axis
Word 2 of the Output Control Data specifies that 4 data words follow. Words 3 to 6
each contain two ASCII characters. If fewer than eight ASCII characters are used,
unused words must be filled with zeros. See chapter 11, The Common Parameters, for
a list of ASCII characters that can be used to define custom user units.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
14
13
12
11
HS
RES
CH1
CH2
-
10
-
9
8
BNK RUN
7
6
5
Number of Words that follow (4)
Word 3
Axis A or B ASCII characters 1 and 2
Word 4
Axis A or B ASCII characters 3 and 4
Word 5
Axis A or B ASCII characters 5 and 6
Word 6
Axis A or B ASCII characters 7 and 8
Word 8
4
3
2
1
0
Command Number (7C / 7D)
Word 2
Word 7
14-22
15
Not used
(Words 6 to 8 hold their previous values)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Output Control Data Format for Commands 7C and 7D: Two Axes
Word 2 of the Output Control Data specifies that 8 data words follow. Words 3 to 6
each contain two ASCII characters for Axis A.
The ASCII characters for Axis B are contained in words 7 and 8 of the first
transmission and words 2 and 3 of the second transmission. If fewer than eight ASCII
characters are used for an axis, unused words must be filled with zeros. See chapter
10, The Common Parameters, for a list of ASCII characters that can be used to define
custom user units.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
Scan 1
14
13
12
11
HS
RES
CH1
CH2
-
10
-
9
8
7
BNK RUN
6
5
Number of Words that follow (8)
Word 3
ASCII characters 1 and 2 for Axis A
Word 4
ASCII characters 3 and 4 for Axis A
Word 5
ASCII characters 5 and 6 for Axis A
Word 6
ASCII characters 7 and 8 for Axis A
Word 7
ASCII characters 1 and 2 for Axis B
Word 8
ASCII characters 3 and 4 for Axis B
HS
RES
CH1
CH2
-
-
BNK RUN
4
3
2
1
0
Command Number (7C / 7D)
Word 2
Word 1
Scan 2
15
Command Number
Word 2
ASCII characters 5 and 6 for Axis B
Word 3
ASCII characters 7 and 8 for Axis B
Word 4
Word 5
Not used
Word 6
(words 4 through 8 of second
Word 7
scan retain their previous values)
Word 8
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-23
14
Write Profile Parameter Data: Commands 90 and 91
The Micro PLC can use command 91 to write the parameter data for one profile (9
words) to a MicroMotion expansion module. The Micro PLC can use command 90 to
write the parameter data for all profiles (9 words per profile) to the MicroMotion
expansion module. For specific details of the profile data written by these commands,
please see chapter 7, Auto Mode.
Output Control Data Format for Commands 90 and 91
Word 2 of the Output Control Data contains the number of data words that follow. For
command 91, word 2 contains the value 9 (number of words being written). For
command 90, word 2 contains the value (number of profiles X 9 words). Word 3
contains the profile number for which parameter data is being supplied. For command
90, the first word of each set of 9 words contains the number of that profile.
Data format for command 91 is shown below. For command 90, each additional profile
would have the same data sequence. Both command 90 and command 91 require
multiple scans to complete.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
15
Word 1
HS
14
RES
13
12
CH1
CH2
11
-
10
-
7
6
BNK RUN
5
4
3
2
1
0
Command Number (91)
Word 3
Profile Number
Word 4
Acceleration Rate [lower] (pulses/s2, µm/s2, inches/s2, degrees/s2)
Word 5
Acceleration Rate [upper]
Word 6
Deceleration Rate [lower] (pulses/s2, µm/s2, inches/s2, degrees/s2)
Word 7
Deceleration Rate [upper]
Word 8
Velocity [lower] (pulses/s, µm/s, inches/s, degrees/s)
Word 1
Scan 2
8
Number of Words that follow (9)
Word 2
Scan 1
9
HS
RES
CH1
CH2
-
-
BNK RUN
Command Number (91)
Word 2
Velocity [upper]
Word 3
Target Position {lower] (pulse, µm, inche, degree)
Word 4
Target Position [upper]
Word 5
Not used
Word 6
(words 5 through 8 of second
Word 7
scan retain their previous values)
Word 8
14-24
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Ladder Logic Example for Command 91
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-25
14
The rungs shown below supply the additional data for the profile and complete the
handshake cycle.
14-26
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Write Profile Parameter Data: Commands 92 - 95
The Micro PLC can use the following commands to write parameter data for individual
profiles to the MicroMotion expansion module. No axis is specified when sending these
commands.
92
Set Acceleration Rate for one profile
93
Set Deceleration Rate for one profile
94
Set Velocity for one profile
95
Set Target Position for one profile
Output Control Data Format for Commands 92 to 95
Word 2 of the Output Control Data specifies that 3 data words follow. Word 3 contains
the number of the profile. Words 4 and 5 contain the lower and upper words of the
profile data (for example, the Acceleration Rate) being written.
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
9
8
7
6
BNK RUN
5
4
3
2
1
0
Command Number (92 – 95)
Word 2
Number of Words that follow (3)
Word 3
Profile Number
Word 4
Profile Parameter [lower]
Word 5
Profile Parameter [upper]
Word 6
Not used
Word 7
(Words 6 to 8 hold their previous values)
Word 8
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-27
14
Write Port Module Communications Parameters: Command 9F
If the MicroMotion expansion module will communicate using one of the serial
communications port option modules described in chapter 3, the communications
parameters can be defined by sending command 9F to the module. (An Ethernet
Option module can be configured using a separate tool. See the VersaMax Micro PLC
User Manual, GFK-1645, Chapter 12 CPU Option Modules.)
Output Control Data Format for Command 9F
Handshake: Transmit / Receive controller bit
Reset handshake
Execute command on Axis A
Execute command on Axis B
Switch Bank of Status Register
Set to 1 by Micro PLC when it is in Run mode
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
-
-
8
7
6
5
4
3
Command Number
2
1
0
(9F)
Number of words that follow (2)
Word 2
Word 3
9
BNK RUN
Communications Speed
Word 4
Transmission Format
Device Number
Word 5
Word 6
Word 7
Not used
(Words 5 to 8 hold their previous values)
Word 8
Communications Speed
0 = 115.2 kbps
1 = 57.6 kbps
2 = 19.2 kbps
3 = 9600 bps
4 = 38.4 kbps*
All others = 19.2 kbps
Transmission Format
0 = 8/E/1
1 = 8/O/1
2 = 8/N/1
8 = 8/N/2
* MicroMotion Modules IC200UMM002/102-BB or later.
14-28
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Sent by a MicroMotion Module
Each scan of the I/O, the VersaMax PLC CPU automatically reads eight words of input
data from a MicroMotion expansion module.
The first two words of this data always have the same format, which is shown below
and described on the next two pages.
The format of words 3 through 8 is variable, as described later in this chapter.
Handshake Bit, Transmit / Receive Indicator
MicroMotion Module is OK = 1
Axis A is operating, outputting pulse = 1
Axis A is in standby mode = 1
Error on Axis A = 1
Axis B status bits
15
Word 1
Word 2
HS
14
13
12
11
10
9
8
7
6
INIT RUN1 STB1 ERR1 RUN2 STB2 ERR2
Axis A External Input States
5
4
3
2
1
0
Used by system
Axis B External Input States
Word 3
Word 4
Word 5
Format depends on
data that was requested
Word 6
Word 7
Word 8
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-29
14
Input Status Data Word 1: Handshaking and Axis Status
Word 1 of the module’s Input Status Data always contains basic handshaking and axis
status bits.
15
HS
14
13
12
11
10
9
8
7
INIT RUN1 STB1 ERR1 RUN2 STB2 ERR2
6
5
4
3
2
1
0
Used by system
Error on axis B = 1. Error corrected and cleared = 0
Axis B is in Standby mode = 1
Axis B is operating, outputting pulse = 1. Axis B is stopped = 0
Error on axis A = 1. Error corrected and cleared = 0
Axis A is in Standby mode = 1
Axis A is operating, outputting pulse = 1. Axis A is stopped = 0
MicroMoton Module is OK = 1
Transmit / Receive Indicator.
14-30
HS
The handshake bit is used when transmitting and receiving data between
the PLC CPU and the MicroMotion Module. This bit mirrors the state of the
corresponding handshake bit in the Output Control Data. The PLC CPU
sets the handshake bit in the module’s Output Control Data to 1 to indicate
the presence of a new command in the Output Control Data. When the
CPU sets the output handshake bit to 1, the module sets the handshake bit
in its Input Status Data to 1. When the CPU sets the output handshake bit
to 0, the module then sets the input handshake bit to 0.
INIT
Bit 14 of the Input Status Data indicates the operating status of the
MicroMotion Module.
RUN
Bits 13 and 10 are = 1 if the axis is operating and outputting a pulse. In
Auto Mode, this bit is Off during a dwell.
STB
Bits 12 and 9 are = 1 if the axis is standby mode.
ERR
Bit 11 and Bit 8 are the axis error bits for axis A and axis B respectively.
Even if the external signal of FO, RO, DR and ES in word 2 (see below)
returns to a proper state, the error must be explicitly cleared by command
from the CPU.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Word 2: External Input States
Word 2 of the module’s Input Status Data always contains bits that indicate the states
of the external inputs for both Axis A and Axis B.
15
14
13
COIN1 FO1 RO1
12
11
10
9
FE1
JF1
JR1
DR1
8
7
6
ES1 COIN2 FO2
5
4
3
2
1
0
RO2
FE2
JF2
JR2
DR2
ES2
Axis B Input States. See Axis A Inputs
Emergency Stop (ES) Input status for Axis A. On = 1.
Drive OK/Ready (DR) Input status for Axis A. On = 1.
Jog Reverse (JR) Input status for Axis A. On = 1.
Jog Forward (JF) Input status for Axis A. On = 1.
Feedrate Override (FE) Input status for Axis A. On = 1.
Reverse Overtravel (RO) Input status for Axis A. On = 1.
Forward Overtravel (FO) Input status for Axis A. On = 1.
Positioning Complete (COIN) Input status for Axis A. On = 1
COIN
The Positioning Complete (COIN) input defaults to enabled, but it can be
disabled in the axis setup. When this input is enabled, it must be On
(indicating positioning complete) before axis motion can start.
FO, RO
The Forward Overtravel (FO) and Reverse Overtravel (RO) inputs can also
be disabled in the axis setup. When these inputs are enabled, if either
input goes to Off, the axis stops.
FE
The Feedrate Override (FE) input defaults to enabled, but can be disabled
in the axis setup. When this input is enabled, if it is Off, the Feedrate
Override function is cancelled. If it is On, Feedrate Override is operational
in Manual and Auto Mode.
JF, JR
The Jog Forward (JF) and Jog Reverse (JR) inputs are used to move the
axis a specified distance in Manual Mode. Jog Forward can also be used
as a switch in Auto Mode. When either of these inputs is On in Manual
Mode, the axis is executing a Jog.
DR
The Drive OK/Ready (DR) input can be used to monitor the status of an
external device controlled by the axis. By default, this input is enabled, but
it can be disabled in the axis setup. If this input is enabled, it must be On
for the axis output pulse to start. If this input goes Off, the axis stops.
ES
The Emergency Stop (ES) input cannot be disabled in the axis setup. If this
input is Off, the axis pulse stops. The stop can be either an immediate or
decelerated stop, as specified in the axis setup.
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-31
14
Input Status Data Words 3 and 4: Axis Data
The upper word of Input Status Data bytes 3 and 4 is used to report axis errors. By
default, the lower bytes of words 3 and 4 contain the number of the profile that is
currently executing on the axis in Auto Mode. During a dwell in Auto Mode, the number
of the previous profile is retained.
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing profile No.
Word 4
Axis B Error code
Axis B Executing profile No.
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Position (lower word)
Word 8
Axis B Current Position (upper word)
Input Status Data Words 3 and 4: Windowing and Write Status Bits
The Micro PLC CPU can change the content of the lower bytes of words 3 and 4 to
instead show whether the axis is in the window in Windowing mode, and whether data
is being written to memory. The upper bytes are still used to report axis errors:
Word 1
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Status Bits
Word 4
Axis B Error code
Axis B Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Position (lower word)
Word 8
Axis B Current Position (upper word)
To make that change, the PLC CPU should set bit 9 (Bank) of Output Control Data
word 1 to 1 (because the module checks control bit 9 at approximately 1ms intervals, it
can take approximately 1ms for the data to switch). When the Bank bit in the Output
Control Data is set to 1, if the axis is currently in Windowing mode, bit 1 of words 3 and
4 of the Input Status Data shows whether the axis is in the window. The Windowing
feature must be enabled for bit 1 to be significant. Bit 0 shows whether data is
currently being written to memory. The state of bit 0 changes for both axes at the same
time.
Data Write Status: 1 = data being written to backup memory or Memory Pack
0 = data not being written
Windowing Status:1 = Axis is within window area
0 = Axis outside of window area
Axis (A or B) Error Code
7
6
5
4
3
2
1
0
Reserved (always 0)
14-32
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Words 5 to 8: Axis Status or Requested Data
By default, words 5 through 8 of the Input Status Data contain the current axis position
data shown below.
In Auto Mode, the default Input Status Data returns the current position for both Axis A
and Axis B. The current position is updated in successive scans as the axis position
changes.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 2
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Position (lower word)
Word 8
Axis B Current Position (upper word)
If the module is not in Auto Mode, the data is equal to 00. If the axis is currently
executing a dwell in Auto Mode, the number of the previous profile is retained.
Customized Input Status Data Formats
The Micro PLC CPU can send commands (A0 through AF) to the module to request
different status data in words 5 through 8. Data formats are described in this section.
The following pages describe several Input Status Data formats that can be requested
by the Micro PLC CPU. Many of these status data formats can be set up individually
for each axis, so the PLC CPU can create custom formats like the one below, which
combines the position of Axis A with the velocity of Axis B.
Input Status Data
Word 1
Word 2
GFK-2471A
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Axis B External Input States
ERR2
Used by system
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Velocity (lower word)
Word 8
Axis B Current Velocity (upper word)
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-33
14
Changing the Format of Input Status Data Words 5 to 8
If the format of Input Status Data words 5 to 8 is changed by sending commands A0 to
AF to the module, the new format is retained until the Micro PLC CPU sends another
command to change the format.
When the Micro PLC CPU sends command B0 through E8 to read data from the
MicroMotion expansion module, the requested data is returned in Input Status Data
words 5 to 8. If the read command requests more than 4 words of data, the reply takes
multiple scans to complete.
When the reply to the read command is completed, the Input Status Data automatically
returns to its previous format.
Word 3
Default Status
Data Format
Word 8
CPU Sends
Command A0 – AF
Custom Status
Data Format
CPU Sends
Command B0 to E8
Reply to Read
Data Request
Words 3 to 8
Automatically Return
to Previous Format
Default Status
Data Format
14-34
VersaMax® Micro PLC MicroMotion Modules – December, 2008
Custom Status
Data Format
GFK-2471A
14
Input Status Data Format: Axis Current Position in Auto Mode
If the format of words 3 through 8 of the Input Status Data has been changed from the
default, the Micro PLC CPU can send command A0 to the module to restore the axis
current position data format. The module will continue to return Input Status Data using
this format until commanded to change to a different format.
Input Status Data Format, Default and Command A0
The Input Status Data format requested by command A0 is shown below. It is the
default format. Words 5 to 8 contain the current positions of Axis A and Axis B. The
axis positions are updated on successive scans of the Input Status Data.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Axis A External Input States
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Position (lower word)
Word 8
Axis B Current Position (upper word)
Input Status Data Format: Axis Latched Position in Auto Mode
To return the axis velocity at the time the command was executed in words 5 to 8 of
the Input Status Data, the VersaMax Micro PLC should send command 20 to the
MicroMotion expansion module. The module will continue to return Input Status Data
using this format and retain the same latched axis position until commanded to change
to a different format. Command 20 can be sent to one axis or to both.
Input Status Data Format, Default and Command 20
The Input Status Data format requested by command 20 is shown below. Words 5 to 8
contain the positions of Axis A and B when the command was executed. The same
position values are retained until a new command is executed.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Latched Position (lower word)
Word 6
Axis A Latched Position (upper word)
Word 7
Axis B Latched Position (lower word)
Word 8
Axis B Latched Position (upper word)
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-35
14
Input Status Data Format: Axis Current Velocity in Auto Mode
To return the current axis velocity in words 5 to 8 of the Input Status Data, the
VersaMax Micro PLC should send command A1 to the MicroMotion expansion module.
The module will continue to return Input Status Data using this format until
commanded to change. Command A1 can be sent to one axis or to both.
Input Status Data Format for Command A1
The Input Status Data format requested by command A1 is shown below. If command
A1 is sent to only one Axis, the Input Status Data words for the other axis retain their
existing format. If the axis is not in Auto Mode, its data words contain the value 00. If
the axis is currently executing a dwell in Auto Mode, its data words contain the number
of the previous profile.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 2
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Current Velocity (lower word)
Word 6
Axis A Current Velocity (upper word)
Word 7
Axis B Current Velocity (lower word)
Word 8
Axis B Current Velocity (upper word)
Input Status Data Format: Axis Sequence Number in Auto Mode
To return the currently-executing sequence number in words 5 to 8 of the Input Status
Data, the VersaMax Micro PLC should send A2 to the MicroMotion expansion module.
The module will continue to return Input Status Data using this format until
commanded to change. Command A2 can be sent to one axis or to both.
Input Status Data Format for Command A2
The Input Status Data format requested by command A2 is shown below. If command
A2 is sent to only one Axis, the Input Status Data words for the other axis retain their
existing format. If the axis is not in Auto Mode, its data words contain the value 00. If
the axis is currently executing a dwell in Auto Mode, its data words contain the number
of the previous profile.
Input Status Data
Word 1
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
14-36
HS
Axis A External Input States
Axis A Executing Sequence Number
Word 6
Not used (holds previous value)
Word 7
Axis B Executing Sequence Number
Word 8
Not used (holds previous value)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: Axis Status in Auto Mode
To return the Auto Mode axis status in words 5 to 8 of the Input Status Data, the
VersaMax Micro PLC should send A3 to the MicroMotion expansion module.
Command A3 can be sent to one axis or to both. The module will continue to return
Input Status Data using this format until commanded to change to a different format.
Input Status Data Format for Command A3
If command A3 is sent to only one Axis, the Input Status Data words for the other axis
retain their existing format. If the axis is not in Auto Mode, its data words contain the
value 00. If the axis is currently executing a dwell in Auto Mode, its data words contain
the number of the previous profile.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Word 5
Used by system
ERR2
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Axis A Status, see data format below
Word 6
Not used (holds previous value)
Word 7
Axis B Status, see data format below
Word 8
Not used (holds previous value)
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-37
14
The format of the axis status data in words 5 and 7 is described below.
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
Type
15 12
Operational
Mode
(hex value)
b1
b0
Not used
Operational Mode
Bits
b2
Description
0
Idling status (not operating in any operating mode)
1
Performing Free Homing
2
Performing low-speed homing (forward direction)
3
Performing low-speed homing (reverse direction)
4
Performing High-Speed Homing [Off Edge] (forward direction)
5
Performing High-Speed Homing [Off Edge] (reverse direction)
6
Performing High-Speed Homing [Marker] (forward direction)
7
Performing High-Speed Homing [Marker] (reverse direction)
8
Manual operation (stopped) [External input instruction mode]
9
Manual operation (operating) [External input instruction mode]
A
Manual operation (controlled by command)
B
Auto Mode (positioning control)
C
Auto Mode (speed control)
D
Follower mode: operating
E
Follower Mode: stopped
11
O.RUN
1 = axis has overrun error. 0 = no overrun or the overrun is cancelled.
10
Dwell
In Auto Mode, 1 = Dwell, even in idle state. The Dwell bit is
independent of bits 12-15. The hex value of word 5 or word 7 can be:
B400hex (dwell during positioning control); C400hex (dwell during
speed control); 0400hex (Dwell at start of Auto operation).
9
HSR
In Auto or Manual Mode, this is 1 while the positioning by the HSR
input.
8
FE
In Auto or Manual Mode, 1=speed controlled by the Feedrate
Overwrite input.
7
JF
In Manual Mode, 1= rotating in forward direction by external input or
command.
6
JR
In Manual Mode, 1= rotating in reverse direction by external input or
command.
4
WND
* Axis has moved into the Windowing area = 1. In Windowing mode,
WND does not turn on for a follower axis that is within the window
area.
* Requires MicroMotion Module IC200UMM002/102-BB or later
14-38
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: System Errors
To return system errors in Input Status Data words 3 and 4, the VersaMax Micro PLC
CPU should send command A4 to the MicroMotion expansion module. The module will
continue to return Input Status Data using this format until commanded to change to a
different format.
See chapter 16 for a list of system error codes. To also read axis status and error
information in the same command, use command AE instead of command A4.
Input Status Data Format for Command A4
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 2
Word 3
Axis A External Input States
System Error 1
Word 4
System Error 2
Word 5
Not used (holds previous value)
Word 6
Not used (holds previous value)
Word 7
Not used (holds previous value)
Word 8
Not used (holds previous value)
Input Status Data Format: Port Option Module Parameters
To return the communications status of an installed serial communications option
module in words 5 to 8 of the Input Status Data, the VersaMax Micro PLC CPU should
send command A5 to the MicroMotion expansion module. The module will continue to
return Input Status Data using this format until commanded to change to a different
format.
Input Status Data Format for Command A5
Input Status Data
Word 1
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Word 6
Communication Interface 0 = RS422/485, 1 = RS-232C/usb
Upper byte: 0=115.2k, 1=57.6k, 2=19.2k, 3=9600, 4=38.4k
Word 7
Device Number
Word 8
Not used (holds previous value)
GFK-2471A
Lower byte: 0=8/E/1, 1=8/O/1,
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-39
14
Input Status Data Format: Axis A Position and Velocity
To return the Axis A position and velocity in words 5 to 8 of the Input Status Data, the
VersaMax Micro PLC CPU should send command A6 to the MicroMotion expansion
module. The module will continue to return Input Status Data using this format until
commanded to change to a different format.
Input Status Data Format for Command A6
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 2
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis A Current Velocity (lower word)
Word 8
Axis A Current Velocity (upper word)
Input Status Data Format: Axis B Position and Velocity
To return the Axis B position and velocity in words 5 to 8 of the Input Status Data, the
VersaMax Micro PLC CPU should send command A7 to the MicroMotion expansion
module. The module will continue to return Input Status Data using this format until
commanded to change to a different format.
Input Status Data Format for Command A7
Input Status Data
Word 1
Word 2
14-40
HS
INIT
RUN1
STB1
ERR1 RUN2
Axis B External Input States
STB2
Used by system
ERR2
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis B Current Position (lower word)
Word 6
Axis B Current Position (upper word)
Word 7
Axis B Current Velocity (lower word)
Word 8
Axis B Current Velocity (upper word)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: Axis A Output Position and Input
Feedback
To return the Axis A output position and input feedback in words 5 to 8 of the Input
Status Data, the VersaMax Micro PLC CPU should send command A8 to the
MicroMotion expansion module. The module will continue to return Input Status Data
using this format until commanded to change to a different format.
Input Status Data Format for Command A8
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 2
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing profile No.
Word 4
Axis B Error code
Axis B Executing profile No.
Word 5
Axis A Current Position, Input Feedback (lower word)
Word 6
Axis A Current Position, Input Feedback (upper word)
Word 7
Axis A Current Position, Output Pulse (lower word)
Word 8
Axis A Current Position, Output Pulse (upper word)
Input Status Data Format: Axis B Output Position and Input
Feedback
To return the Axis B output position and input feedback in words 5 to 8 of the Input
Status Data, the VersaMax Micro PLC CPU should send command A9 to the
MicroMotion expansion module. The module will continue to return Input Status Data
using this format until commanded to change to a different format.
Input Status Data Format for Command A9
Input Status Data
Word 1
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Axis B External Input States
ERR2
Used by system
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis B Current Position, Input Feedback (lower word)
Word 6
Axis B Current Position, Input Feedback (upper word)
Word 7
Axis B Current Position, Output Pulse (lower word)
Word 8
Axis B Current Position, Output Pulse (upper word)
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-41
14
Input Status Data Format: Axis and System Errors
To return two system errors in Input Status Data words 5 and 6 in addition to the axis
error data in words 3 and 4, the VersaMax Micro PLC CPU should send command AE
to the MicroMotion expansion module. The module will continue to return Input Status
Data using this format until commanded to change to a different format.
See chapter 16 for a list of system error codes.
Command AE command is similar to command A4, except that command A4 does not
return the basic axis status and error information shown below.
Input Status Data Format for Command AE
Input Status Data
Word 1
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
System Error 1
Word 6
System Error 2
Word 7
Not used (holds previous value)
Word 8
Not used (holds previous value)
14-42
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: Module Hardware Revision
To return the MicroMotion Module’s hardware revision number in word 5 of the Input
Status Data, the VersaMax Micro PLC CPU should send command AA to the
MicroMotion expansion module. The module will continue to return Input Status Data
using this format until commanded to change to a different format.
For example, MicroMotion modules UUM0012-A* and UUM102-A* return the value 1.
Input Status Data Format for Command AA
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 2
Word 3
Axis A Error code
Word 4
Axis B Error code
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Hardware Version
Word 6
Not used (holds previous value)
Word 7
Not used (holds previous value)
Word 8
Not used (holds previous value)
Input Status Data Format: Module Firmware Revision
To return the MicroMotion Module’s firmware revision number in words 5 and 6 of the
Input Status Data, the VersaMax Micro PLC CPU should send command AF to the
MicroMotion expansion module. The module will continue to return Input Status Data
using this format until commanded to change to a different format.
Input Status Data Format for Command AF
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A External Input States
Firmware Version (lower word)
Word 6
Firmware Version (upper word0
Word 7
Not used (holds previous value)
Word 8
Not used (holds previous value)
GFK-2471A
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-43
14
Input Status Data Format: Read Individual Parameters
To return individual parameters in words 5 to 8 of the Input Status Data, the VersaMax
Micro PLC can send commands B1 through CB and CE through D1 to the MicroMotion
expansion module. Most of these commands can be sent to one axis or to both. The
data is returned in Words 5-8 of the Input Status Data. After the CPU reads all of the
data, the format of the Input Status Data returns to the selected axis status information,
as described earlier.
Commands CC and CD, which request four words of ASCII user units per axis, return
data in a different format. The format for commands CC and CD is described next in
this section.
Input Status Data Format for Individual Parameters, Commands B1 to CB, CE to D1
The Input Status Data format returned for commands B1 through CB and CE through
D1 if the parameters have two words per axis is shown below.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 2
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Common Parameter Word 1
Word 6
Axis A Common Parameter Word 2
Word 7
Axis B Common Parameter Word 1
Word 8
Axis B Common Parameter Word 2
The Input Status Data format returned for commands B1 through CB and CE through
D1 if the parameters have two words per axis is shown below.
Input Status Data
Word 1
Word 2
INIT
RUN1
STB1
ERR1 RUN2
STB2
Axis B External Input States
ERR2
Used by system
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
14-44
HS
Axis A Common Parameter Word
Word 6
Not used (holds previous value)
Word 7
Axis B Common Parameter Word
Word 8
Not used (holds previous value)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: Read Custom User Units
To return the custom User Units that have been set up for Input Feedback, the
VersaMax Micro PLC should send command CC to the MicroMotion expansion module
as described in the previous section.
To return the custom User Units that have been set up for the Output Pulse, the
VersaMax Micro PLC should sent command CD to the MicroMotion expansion module.
Commands CC and CD can be sent to one axis or to both. The format of the data
returned depends on whether it is for one axis or two. The data is returned in Words 58 of the Input Status Data. After the CPU reads all of the data, the format of the Input
Status Data returns to the selected axis status information, as described earlier.
Input Status Data Format for Commands CC and CD, One Axis
If only the ASCII characters for only one axis (either A or B) are requested, Word 5 of
the Input Status Data contains the number 4 (number of data words requested).
The first ASCII characters are located in word 6. If fewer than eight ASCII characters
were defined for the requested User Units, the unused words are filled with zeros. For
a list of ASCII characters, please see chapter 11, The Common Parameters.
Input Status Data
Word 1
HS
INIT
ERR1 RUN2
STB2
ERR2
Used by system
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Number of Words (4)
Word 6
Axis A or Axis B ASCII character 1
Word 7
Axis A or Axis B ASCII character 2
Word 8
Axis A or Axis B ASCII character 3
Word 1
Word 2
Scan 2
STB1
Axis B External Input States
Word 2
Scan 1
RUN1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A or Axis B ASCII character 4
Word 6
Word 7
Word 8
GFK-2471A
Not used
(holds previous value)
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-45
14
Input Status Data Format for Commands CC and CD, Both Axes
If the ASCII characters for both Axis A and Axis B are requested, Word 5 of the Input
Status Data contains the number 8 (number of data words requested).
The first ASCII characters are located in word 6. If fewer than eight ASCII characters
were defined for the requested User Units, any unused words for an axis are filled with
zeros. For a list of ASCII characters, please see chapter 11, The Common Parameters.
Input Status Data
Word 1
HS
INIT
Scan 1
ERR1 RUN2
Axis A Error code
Word 4
Axis B Error code
STB2
ERR2
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Number of Words (8)
Word 6
Axis A ASCII character 1
Word 7
Axis A ASCII character 2
Word 8
Axis A ASCII character 3
HS
INIT
Word 2
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Axis A ASCII character 4
Word 6
Axis B ASCII character 1
Word 7
Axis B ASCII character 2
Word 8
Axis B ASCII character 3
Word 1
Scan 3
STB1
Word 3
Word 1
Scan 2
RUN1
Axis B External Input States
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Word 5
ERR2
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Axis B ASCII character 4
Word 6
Word 7
Word 8
14-46
Not used
(holds previous value)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: Read Profile Parameter Data
To return one profile (9 words) in the Input Status Data, the VersaMax Micro PLC
should send command E1 to the MicroMotion expansion module.
To return all profiles (9 words per profile) in the Input Status data, the VersaMax Micro
PLC should send command E0 to the MicroMotion expansion module.
After the CPU reads all of the data, the format of the Input Status Data returns to the
selected axis status information, as described earlier.
Input Status Data Format for Commands E0 and E1
Word 5 contains the number of data words that follow. For command E1, word 5
contains the value 9 (number of words requested). For command E0, word 5 contains
the value (number of profiles X 9 words).
The profile data starts at word 6 of the first scan, and continues to the end. The
example below shows the format for command E1, which returns 9 words of profile
data in the module’s Input Status Data. Command E0, which returns multiple profiles,
would require additional transfers to complete.
Input Status Data
Word 1
Scan 1
GFK-2471A
RUN1
STB1
ERR1 RUN2
STB2
Word 3
Axis A Error code
Word 4
Axis B Error code
ERR2
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Number of Words (9)
Word 6
Profile Number
Word 7
Acceleration Rate [lower]
Word 8
Acceleration Rate [upper]
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
ERR2
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Deceleration Rate [lower]
Word 6
Deceleration Rate [upper]
Word 7
Velocity [lower]
Word 8
Velocity [upper]
Word 1
Scan 3
INIT
Axis B External Input States
Word 1
Scan 2
HS
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Word 2
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Target Position [lower]
Word 6
Target Position [upper]
Word 7
Not used
Word 8
(holds previous value)
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-47
14
Input Status Data Format: Read All Common Parameters
To return all Common Parameters in the Input Status Data, the VersaMax Micro PLC
should send command B0 to the MicroMotion expansion module. Command B0 can be
sent to one axis or to both. For specific details of the parameter data returned by this
command, please see chapter 11, Common Parameters.
After the CPU reads all of the data, the format of the Input Status Data returns to the
selected axis status information, as described earlier.
Input Status Data Format for Command B0
Word 5 of the Input Status data contains the number of words requested. For MicroMotion modules IC200UMM002/102-BB or later, the length of the Common
Parameters is 65 words per axis. For earlier module versions, the length is 58 words
per axis.
If only one axis is specified in the request, the Common Parameter data for that axis
starts at word 6 of the Input Status Data. If both axes are requested, the data for Axis
A starts in word 6. All of the data for Axis A is returned first. It is immediately followed
by all of the data for Axis B, with no break in between.
Input Status Data
Word 1
HS
INIT
Axis A Error code
Word 4
Axis B Error code
STB2
ERR2
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Number of Words
Word 6
Axis A data word 1
Word 7
Axis A data word 2
Word 8
Axis A data word 3
HS
INIT
Word 2
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Axis A last data word
Word 6
Axis B data word 1
Word 7
Axis B data word 2
Word 8
Axis B data word 3
Word 1
14-48
ERR1 RUN2
Word 3
Word 1
Scan n
STB1
Axis B External Input States
Word 2
Scan 1
RUN1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Word 2
Axis B External Input States
Used by system
Axis A External Input States
Word 3
Axis A Error code
Last
Word 4
Axis B Error code
Scan
Word 5
Axis B data word
Word 6
Axis B last data word
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 7
Not used
Word 8
(holds previous value)
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
14
Input Status Data Format: Read Registered Sequence Table
To return a Registered Sequence Table in the Input Status data, the VersaMax Micro
PLC should send command E8 to the MicroMotion expansion module. Command E8
can be sent to one axis or to both.
Input Status Data Format for Command E8
Word 5 contains the number of data words that follow. In the Sequence Table, each
profile or dwell is represented by a word of data. For a dwell, bits 0-14 contain the time
for the dwell. See chapter 7, Auto Mode for details.
15 14 13 12 11 10
9
8
7
6
Profile or Dwell
Type of Move
Position Control or Speed Control
Cycle Type
Acceleration Type
5
4
3
2
1
0
Profile Number
Breakpoint
Direction of Rotation
Deceleration Type
If only one axis is specified the data for that axis starts at word 6 of the Input Status
Data. If both axes are specified for command E8, the data for Axis A starts in word 6.
All of the data for Axis A is returned first. It is immediately followed by all of the data for
Axis B, with no break in between.
Input Status Data
Word 1
HS
INIT
Scan 1
ERR1 RUN2
Axis A Error code
Word 4
Axis B Error code
STB2
Used by system
ERR2
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Number of Words
Word 6
[Axis A] Number of Elements in the Registration Sequence Table
Word 7
Profile or Dwell 1
Word 8
Profile or Dwell 2
HS
INIT
Word 2
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 3
Axis A Error code
Word 4
Axis B Error code
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Profile or Dwell n
Word 6
[Axis B] Number of Elements in the Registration Sequence Table
Word 7
Profile or Dwell 1
Word 8
Profile or Dwell 2
Word 1
Word 2
GFK-2471A
STB1
Word 3
Word 1
Scan n
RUN1
Axis B External Input States
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Last
Word 4
Axis B Error code
Scan
Word 5
Profile or Dwell n-1
Word 6
Profile or Dwell n
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 7
Not used
Word 8
(holds previous value)
Chapter 14 Exchanging Data with a VersaMax Micro PLC CPU
14-49
14
14-50
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Exchanging Data with a Host Controller
15
This chapter explains how a host controller Can use MODBUS RTU or TCP/IP
communications to set up, monitor, and control a VersaMax MicroMotion Module. This
chapter does not include instructions for implementing MODBUS communications with
a specific type of host controller.
▪
Host Controller Overview
▪
▪
▪
▪
▪
▪
▪
MODBUS Communications Sequences
▪
▪
▪
▪
Coils
Input Status Bits
Input Registers
Holding Registers
MODBUS Function Code Descriptions
▪
▪
▪
▪
▪
▪
▪
▪
GFK-2471A
Setting Up Parameters
Reading Module Data
Controlling the Module
MODBUS Data Formats for MicroMotion Modules
▪
▪
▪
▪
▪
Host Controller in a VersaMax Micro PLC System
Host Controller in a Standalone Motion Application
Port Option Module Selection
MODBUS Data Types for MicroMotion Modules
MODBUS Commands for MicroMotion Modules
Writing and Storing Data to the Module
Function Code 0x01 (Read Coil Status)
Function Code 0x02 (Read Input Status)
Function Code 0x03 (Read Holding Registers)
Function Code 0x04 (Read Input Registers)
Function Code 0x05 (Force Single Coil)
Function Code 0x06 (Force Single Register)
Function Code 0x07 (Force Multiple Coils)
Function Code 0x08 (Force Multiple Registers
15-1
15
Host Controller Overview
A host controller can set up, monitor and control MicroMotion Modules in either
VersaMax Micro PLC or standalone motion control applications.
Host Controller in a VersaMax Micro PLC System
Up to two MicroMotion Modules can be used as expansion modules in a VersaMax
Micro PLC system. The PLC CPU normally controls and monitors module operation
through a regular and automatic exchange of data. However, the host controller has
access to a full range of setup, control and monitoring functions through the use of
standard MODBUS commands.
The MicroMotion Modules communicate with the host controller through port option
modules as shown below.
Host Computer
Machine Edition
software with integrated
MicroMotion Setup tool
VersaMax Micro PLC CPU
1 or 2 MicroMotion Expansion Modules
Host Controller in a Standalone Motion Application
A host controller can be used to set up, monitor, and control up to 32 VersaMax
MicroMotion Modules that are operating in standalone mode. The MicroMotion
Modules communicate with the host controller through port option modules.
Host Controller
Up to 32 MicroMotion Modules
In standalone applications, setup and control of MicroMotion modules can also be
done using the MicroMotion Setup Tool software.
15-2
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Port Option Module Selection
A host controller can use either MODBUS RTU or MODBUS TCP/IP communications
with VersaMax MicroMotion Modules.
Host
MODBUS RTU
or
MODBUS TCP/IP
MicroMotion Module
Commands
Operation data
Each MicroMotion Module that will communicate with the host controller must be
equipped with the same type of Port Option Module (see chapter 3 for module
descriptions), and use the same communications parameters.
The type of Port Option Module needed depends on the whether the host controller will
communicate using MODBUS RTU or MODBUS TCP/IP.
▪
In a MODBUS RTU application, each MicroMotion Module must be equipped with
an RS232 Port Option Module (IC200USB001) or RS485 Port Option Module
(IC200USB002).
In a MODBUS RTU application, the host controller operates as a MODBUS Master
and each MicroMotion module acts as a MODBUS Slave.
▪
In a MODBUS TCP/IP application, each MicroMotion module must be equipped
with an Ethernet Option Module (IC200UEM001).
In a MODBUS TCP/IP application, the host controller operates as a MODBUS
TCP/IP Client, and each MicroMotion module acts as a MODBUS TCP/IP Server.
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-3
15
MODBUS Data Types for MicroMotion Modules
The host can access all MicroMotion Module data and send commands using the
following MODBUS memory types. Data mapping into these memories is detailed later
in this chapter.
Coils
Coils are bit-type data. The MicroMotion module uses MODBUS Coil addresses 1 to
523.
Input Status Bits
The MicroMotion module uses MODBUS Input Status Table addresses 10001 to
10519. Input Status data is read-only.
Input Registers
Input Registers are word-type data. The MicroMotion module uses MODBUS Input
Register addresses 30001 to 36999. Input Registers are read-only.
Holding Registers
Holding Registers are word-type data that can be read or written. The MicroMotion
module uses MODBUS Holding Register addresses 40001 to 46999.
MODBUS Commands for MicroMotion Modules
A VersaMax MicroMotion module supports the following MODBUS Commands:
Function Code
MODBUS Function
Decimal
Hexadecimal
01
01
Read Coil Status
02
02
Read Input Status
03
03
Read Holding Registers
04
04
Read Input Registers
05
05
Force Single Coil
06
06
Preset Single Register
15
0F
Force Multiple Coils
16
10
Preset Multiple Registers
Instructions for using all supported commands are given later in this chapter.
15-4
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Writing and Storing Data to the Module
To write parameters, profiles or Sequence Table data to a MicroMotion module, the
host must first write the data to specific pre-assigned Holding Registers, as explained
below.
Writing Data to Holding Registers
To write the data to the module’s Holding Registers, the host sends the module a
MODBUS Preset Single Register or Preset Multiple Registers command.
Holding Registers
Parameter
Parameter
Parameter
Parameter
Preset Multiple
Registers Command
Storing Data from Holding Registers to Input Registers
Before data can be used by the MicroMotion module, it must be copied from the
Holding Registers into corresponding Input Registers. The host commands the
MicroMotion module to copy data into its Input Registers using a MODBUS Force
Single Coil or Force Multiple Coils command to turn on the coils listed on the next
page.
Coils Table
Force Coil
Command
1
Holding Registers
Input Registers
Parameter
Parameter
Parameter
Parameter
Parameter
The module detects coils for setting parameters at the edge. The module automatically
turns these coils Off; the host does not need to clear coils before setting them again.
After detecting the set coil, the module checks the data in the corresponding Holding
Register. If the data is correct, the module stores a copy of the data in the
corresponding Input Register, which is the location used for the actual operating data.
If the data is not correct, the module does not copy the value to the corresponding
Input Register. In that case, the value in the Holding Register and the corresponding
Input Register are not the same.
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-5
15
Coils to Set for Copying Holding Registers to Input Registers
The host sets bits in the Coils table to command the MicroMotion module to perform
many types of actions. That includes commanding the module to copy data from its
internal Holding Registers into its Input Registers. When commanding the module to
initialize data or to copy data from Holding Registers into Input Registers, it is not
possible to select individual parameters to be initialized or copied. All of the data for
one axis or both axes is initialized or copied at the same time. The table below lists
coils that can be used to initialize or set (write) data, and the Holding Registers whose
data will be copied to the Input Registers when the coils are set.
Action to Be Performed
Set
This
Coil
Holding
Registers
Copied
100 – 157
Initialize all Common Parameters,
profiles, and Sequence Table data to
their defaults
205
206
Set (write) Common Parameters for Axis
A
220
Initialize Common Parameters for Axis B
207
Set (write) Common Parameters for Axis
B
221
Clear Sequence Table of Axis A
212
Set (write) Sequence Table for Axis A
226
Clear Sequence Table of Axis B
213
Set (write) Sequence Table for Axis B
227
Clear all profile data
210
Set (write) all Profile data
224
Clear one profile *
211
Set (write) one Profile *
225
Set (write) transmission speed
141
Device Number
Axis A Common
Parameters
200 – 257
Axis B Common
Parameters
500 – 999
Axis A Sequence Table
1500-1999
Axis B Sequence Table
4520 6567
Initialize Common Parameters for Axis A
Description of
Holding Registers
Profile Data *
100 – 157
(all)
Axis A Common
Parameters
200 – 257
(all)
Axis B Common
Parameters
500 – 999
Axis A Sequence Table
1500 –
1999
Axis B Sequence Table
4520 6567
Profile Data
4519
4520 6567
Profile Data *
4
5
Communications
parameters
* The profile number is specified in Holding Register 4519 and coil 211 or 225 is
turned On.
15-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Sequence of Writing Data to a MicroMotion Module
Common parameters, profile data, and Sequence Table data can be written to a
MicroMotion Module when the module is stopped. If this data is written to the module
during operation, it is not used or stored by the module.
When writing data to the module, the host should set parameters in the following
sequence:
1.
Common parameters.
2.
Profile data, which set up specific individual profiles for use in Auto mode.
3.
Sequence Table data.
The MicroMotion Module checks parameters for validity, and flags an error if an
incorrect parameter is detected. See chapter 16 for information about error codes.
Checking for Errors
After writing parameters to the MicroMotion module and setting the coils as listed on
the previous page, the host should check the error area of the Input Register table to
see whether the coil is On. If an error has caused the coil to be Off, the host can try
turning it on again. When changing individual parameters, the host should check for
errors after each parameter change, and make corrections if necessary.
Some parameter changes may cause errors in the Sequence Table or Profile data.
The host should also check those areas.
Storing Operating Data to Backup Memory
When setup is completed normally, the MicroMotion module automatically stores the
common parameters, profile data, and Sequence Table setup data in its backup
memory. The module does not automatically store axis operating parameters, such as
the selection of External Input mode. The host can command the module to write this
additional data to backup memory by setting output coil 146 for Axis A, and/or coil 147
for Axis B.
If the MicroMotion module loses power during a backup, some data is lost.
Parameters that have already been backed up are restored properly when power is
turned on. Parameters that have not yet been backed up are set to an indefinite value.
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-7
15
MODBUS Communications Sequences
This section illustrates the MODBUS queries and responses that occur when the host
sets up parameters, reads module data, or commands MicroMotion module operations.
Setting Up Parameters
A parameter is set up by writing the value to a Holding Register, then setting the
corresponding Coil bit to 1 to command the module to copy the Holding Registers to its
Input Registers.
The sequence of setting a parameter using MODBUS commands is shown below.
Host
MicroMotion Module
Query (Function Code 0x06 or 0x10)
Response
Writes data in a
Holding Register.
Query (Function Code 0x05 or 0x0F)
Response
Turns on a coil to command
the module to copy the
Holding Registers.
Query (Function Code 0x04)
Response
Query (Function Code 0x04)
Response
Reads an error code area and
checks for unexpected results.
Reads the Input Registers to
verify that the operating
parameters are correct.
Function Codes:
0x04 … Read input registers
0x05 … Force single coil
0x06 … Force single register
0x0F … Force multiple coils
0x10 … Force multiple registers
15-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Reading Module Data
Operating information for the MicroMotion module and the current parameters are
located in the module’s Input Register memory. The host can read the information
using Function Code 04.
Host
MicroMotion Module
Query (Function Code 0x04)
Response
Function Code: 0x04 … Read Input Registers
Controlling the Module
The host can start operation on an axis and control many other module functions by
setting and clearing coils. See the section MODBUS Coils Table Data later in this
chapter for a complete listing of coils and the actions they can control.
Host
MicroMotion Module
Query (Function Code 0x05 or 0x0F)
Response
Query (Function Code 0x04)
Response
Read an error code area and
check an executed result.
Function Codes:
0x04
Read Input Registers
0x05 … Force single coil
0x0F … Force multiple coils
Coils for requests like start operation or stop operation are turned off by the system.
Coils that stop a manual operation are not turned off automatically; they must be
turned off by the host.
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-9
15
MODBUS Data Formats for MicroMotion Modules
The tables in this section define the MODBUS memory assignments of data in a
MicroMotion Module.
Coils Table
Coils are bit-type data that is used to exchange status information and commands with
the MicroMotion module. All data in the Coils table can be read and written. The
MicroMotion module uses Coil addresses 1 to 523, as defined on the following pages.
Except as noted in the table, setting a bit to 1 enables the associated action.
In the table, asterisks indicate when the command can be executed, and whether
specific module versions are required.
*
**
Command can execute during operation.
Requires MicroMotion Module IC200UMM002/102-BB or later
Coils Table
Address
1
2
3
4
5
6
7
8
9
10
(11 – 12)
13
14
15
16
(17 - 140)
141
142
143
144
145
146
147
15-10
When
Detected
Command bits. These bits correspond to the output command data that can be sent by a VersaMax Micro PLC CPU, as described in chapter
14.
Not used by MODBUS host
** Set to 1 to enable the display of the MicroMotion module's backup
status in the bit 0 of the status words 3 & 4. Default = 0 to enable the
display of profile number in Auto mode.
Not used
Execute command on Axis B (Used by VersaMax Micro PLC CPU only) Execute command on Axis A (Used by VersaMax Micro PLC CPU only) Initialize handshake (Used by VersaMax Micro PLC CPU only)
Transmit / receive indicator (Used by VersaMax Micro PLC CPU only)
Not used
Request to Change Transmission Speed (Holding Register 4)
edge
Request to set Device Number (Holding Register 5)
edge
Not used
Double word data sequence. 0 = lower/upper, 1 = upper/lower
level
Pulse output at CPU stop. 1 = continue pulse, 0 = stop pulse
edge
Save Axis A parameters (this command backs up axis operating
parameters. Common parameters, profiles, and Sequence Table data
edge
are saved automatically.)
Save Axis B parameters (see coil 146, above)
edge
Name
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Coils Table
Address
(148 - 199)
200
201
202
(203 – 204)
205
206
207
(208 - 209)
210
Not used
* Clear system errors
* Clear Axis A error
* Clear Axis B error
Not used
Initialize all parameters to their default values.
Initialize Common Parameters for Axis A to their default values
Initialize Common Parameters for Axis B to their default values
Not used
When
Detected
edge
edge
edge
Edge
edge
edge
-
Clear all profile data
edge
Name
211
Clear one profile
edge
212
Clear Registration Sequence Table of Axis A
edge
213
Clear Registration Sequence Table of Axis B
edge
-
(214 - 219) Not used
220
Set Common Parameters for Axis A
edge
221
Set Common Parameters for Axis B
edge
-
(222 - 223) Not used
224
Set all Profile data
edge
225
Set designated Profile data
edge
226
Set Registration Sequence Table for Axis A
edge
227
Set Registration Sequence Table for Axis B
edge
-
(228 - 239) Not used
240
* Stop Axis A immediately
edge
241
* Stop Axis B immediately
edge
-
(242 - 243) Not used
244
* Decelerate and stop Axis A
edge
245
* Decelerate and stop Axis B
edge
-
(246 - 247) Not used
248
* Feedrate Override on Axis A. Decelerate\Accelerate the pulse to the
specified rate.
level
249
* Feedrate Override on Axis B. Decelerate\Accelerate the pulse to the
specified rate.
level
(250 - 251) Not used
252
* Move the registration distance on Axis A
edge
253
* Move the registration distance on Axis B
edge
-
(254 - 255) Not used
256
Change profile of Axis A in Auto mode (speed control)
edge
257
Change profile of Axis B in Auto mode (speed control)
edge
-
(258 - 259) Not used
GFK-2471A
-
260
Change Pulse Speed on Axis A
edge
261
Change Pulse Speed on Axis B
edge
Chapter 15 Exchanging Data with a Host Controller
15-11
15
Coils Table
Address
(262 - 263) Not used
Name
264
Change the current output position on Axis A by the value specified
edge
265
Change the current output position on Axis B by the value specified
edge
-
(266 - 267) Not used
268
* Read current position of Axis A, latching
edge
269
* Read current position of Axis B, latching
edge
-
(270 - 271) Not used
272
Change the current input position on Axis A by the value specified
edge
273
Change the current input position on Axis B by the value specified
edge
-
(274 - 279) Not used
280
** Follower operation, set / cancel [A axis] 0=cancel, 1 = set
(281 - 282)
283
Not used
** Follower operation, set / cancel [B axis] 0=cancel, 1 = set
(284 - 291)
Not used
level
level
-
292
Set / cancel Manual (external input) mode on Axis A. Set = 1, cancel =
0.
level
293
Set / cancel Manual (external input) mode on Axis B. Set = 1, cancel =
0.
level
Not used
-
(294 - 299)
300
Execute Free homing on Axis A
edge
301
Execute Low speed homing (CCW direction) on Axis A
edge
302
Execute Low speed homing (CW direction) on Axis A
edge
303
Execute High speed homing (OFF Edge / CCW direction) on Axis A
edge
304
Execute High speed homing (OFF Edge / CW direction) on Axis A
edge
305
Execute High speed homing (Marker / CCW direction) on Axis A
edge
306
Execute High speed homing (Marker/CW direction) on Axis A
Not used
edge
-
Execute Free homing on Axis B
edge
311
Execute Low speed homing (CCW direction) on Axis B
edge
312
Execute Low speed homing (CW direction) on Axis B
edge
313
Execute High speed homing (OFF Edge / CCW direction) on Axis B
edge
314
Execute High speed homing (OFF Edge / CW direction) on Axis B
edge
315
Execute High speed homing (Marker / CCW direction) on Axis B
edge
316
Execute High speed homing (Marker / CW direction) on Axis B
edge
-
(307 - 309)
310
(307 - 339)
15-12
When
Detected
-
Not used
340
Execute Single cycle operation of Registered Sequence Table on Axis
A
edge
341
Execute Consecutive cycle operation of Registered Sequence Table
on Axis A
edge
342
Execute Single cycle operation of Specified Sequence Table on Axis
A
edge
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Coils Table
Address
Name
343
Execute Consecutive cycle operation of Specified Sequence Table on
Axis A
edge
344
Execute Single cycle operation of Registered Sequence Table on Axis
B
edge
345
Execute Consecutive cycle operation of Registered Sequence Table
on Axis B
edge
346
Execute Single cycle operation of Specified Sequence Table on Axis
B
edge
347
Execute Consecutive cycle operation of Specified Sequence Table on
Axis B
edge
Not used
-
360
Execute manual (Jog) operation (consecutive pulse output/CCW
direction) on Axis A
level
361
Execute manual (Inching) operation (designated pulse output/CCW
direction) on Axis A
edge
362
Execute manual (Jog) operation (consecutive pulse output/CW
direction) on Axis A
level
363
Execute manual (Inching) operation (designated pulse output/CW
direction) on Axis A
edge
(348 - 359)
(364 - 369) Not used
-
370
Execute manual (Jog) operation (consecutive pulse output/CCW
direction) on Axis B
level
371
Execute manual (Inching) operation (designated pulse output/CCW
direction) on Axis B
edge
372
Execute manual (Jog) operation (consecutive pulse output/CW
direction) on Axis
level
373
Execute manual (Inching) operation (designated pulse output/CW
direction) on Axis B
edge
(374 - 399) Not used
-
400
Format Memory Pack module
edge
401
Save initial values of MicroMotion module to Memory Pack module
edge
402
Save all parameters from MicroMotion module to Memory Pack module edge
403
Save Common Parameters for Axis A to Memory Pack module
edge
404
Save Common Parameters for Axis B to Memory Pack module
edge
-
(405 - 406) Not used
407
Write all Profile data to Memory Pack module
edge
408
MicroMotion Modules IC200UMM002/102-BB or later: Undefined
command
MicroMotion Modules IC200UMM002/102-AA only: Write one profile to
Memory Pack by specifying its profile number.
edge
409
Write registration Sequence Table for Axis A to Memory Pack module
edge
410
Write registration Sequence Table for Axis B to Memory Pack module
edge
-
(411 - 412) Not used
GFK-2471A
When
Detected
Chapter 15 Exchanging Data with a Host Controller
15-13
15
Coils Table
Address
15-14
Name
When
Detected
413
Save communication setting and device number to Memory Pack
module
edge
414
Write Axis A information to the Memory Pack module
edge
415
Write Axis B information to the Memory Pack module
edge
500
** Windowing function Enable / Disable, (A axis) 1 = set, 0 = cancelled. edge
501
** Windowing function Enable / Disable. (B axis) 1 = set, 0 = cancelled. edge
510
reserved.
edge
511
reserved
edge
520
** Auto 1 cycle (Registration sequence to Breakpoint) (A axis). 1 = set. edge
521
** Auto continuous cycle (Registration sequence to Breakpoint) (A
axis). 1 = set.
522
** Auto 1 cycle (Registration sequence to Breakpoint) (B axis). 1 = set. edge
523
** Auto continuous cycle (Registration sequence to Breakpoint) (B
axis) 1 = set.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
edge
edge
GFK-2471A
15
Input Status Bits
Input Status data is bit-type data that is used for status information. Input Status data is
read-only. The MicroMotion module uses MODBUS Input Status addresses [1]0001 to
[1]0519.
Input Status
Table Address
Contents
1
2
3
4
5
Used by the system
6
7
8
GFK-2471A
9
Axis B error =1. Corrected and cleared = 0.
10
Axis B in Standby mode = 1.
11
Axis B operating, outputting pulse = 1. Axis B is stopped = 0.
12
Axis A error = 1. Corrected and cleared = 0.
13
Axis A in Standby mode = 1.
14
Axis A operating, outputting pulse = 1. Axis A is stopped = 0.
15
MicroMotion module is OK = 1.
16
Transmit / receive bit, 1 = receiving instruction.
17
Axis B Emergency Stop input status. On = 1.
18
Axis B Drive OK/Ready input status. On = 1.
19
Axis B Jog Reverse input status. On = 1.
20
Axis B Jog Forward input status. On = 1.
21
Axis B Feedrate Override input status. On = 1.
22
Axis B Reverse Overtravel input status. On = 1.
23
Axis B Forward Overtravel input status. On = 1.
24
Axis B Move Complete input status. On = 1.
25
Axis A Emergency Stop input status. On = 1.
26
Axis A Drive OK/Ready input status. On = 1.
27
Axis A Jog Reverse input status. On = 1.
28
Axis A Jog Forward input status. On = 1.
29
Axis A Feedrate Override input status. On = 1.
30
Axis A Reverse Overtravel input status. On = 1.
31
Axis A Forward Overtravel input status. On = 1.
32
Axis A Move Complete input status. On = 1.
Chapter 15 Exchanging Data with a Host Controller
15-15
15
Input Status
Table Address
(33 - 142)
Contents
Not used
143
MicroMotion module standalone operation status
0 = Controlled by VersaMax Micro PLC, 1 = Standalone mode
144
Double word data format
0 = Lower word/upper word format, 1 = Upper word/lower word format
(145 - 149)
150
Not used
Common Parameters error status
0 = No errors,
1 = Error
151
Axis A error status:
0 = no error, 1 = error
152
Axis B error status:
0 = no error, 1 = error
(153 - 247)
Not used
248
Feedrate Override status on Axis A
0 = No feedrate override status, 1 = feedrate override
249
Feedrate Override status on Axis B
0 = No feedrate override status, 1 = feedrate status
(250 - 279)
280
(281 - 282)
283
(284 - 291)
Not used
* Follower operation Set/Cancel (A axis) 0 = cancelled, 1 = set
Not used
* Follower operation Set/Cancel (B axis) 0 = cancelled, 1 = set
Not used
292
Manual operation (external input) on Axis A.
0 = no, 1 = yes
293
Manual operation (external input) on Axis B.
0 = no, 1 = yes
(294 - 359)
360
(361)
362
(363 - 369)
370
(371)
372
(373 - 419)
Not used
Manual operation in CCW direction on Axis A: 0 = no, 1 = yes
Not used
Manual operation in CW direction on Axis A:
0 = no, 1 = yes
Not used
Manual operation in CCW direction on Axis B: 0 = no, 1 = yes
Not used
Manual operation in CW direction on Axis B:
0 = no, 1 = yes
Not used
420
Saving to backup memory: 0 = Save completed, 1 = Saving to backup
421
Writing to Memory Pack module
Memory Pack module
(422 -)
0 = Write completed, 1 = Saving to
Not used
500
* Windowing function (A axis). 0=disable, 1=enable
501
* Windowing function (B axis). 0=disable, 1=enable
510
reserved
511
reserved
* Requires MicroMotion module IC200UMM002/102-BB or later
15-16
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Input Registers
Input Registers contain word-type data that is used for status information about the
MicroMotion module. Input Registers contain the current parameter information. Input
Registers are read-only. The MicroMotion module uses Input Register addresses
[3]0001 to [3]6999.
For parameters related to speed, the system may correct the value. If so, the actual
speed, which is set to the input register, may be different from the value set to the
holding register.
In the table, (* = requires MicroMotion module IC200UMM002/102-BB or later)
Input
Registers
Address
1
2
3
4
5
(6)
7
8
9
10
11
GFK-2471A
Name
Firmware version [Lower]
Firmware version [Upper]
Communication interface: 0 = RS-422/485, 1= RS-232c/usb
Current communication speed and transmission format
Upper byte: 0 = 115.2k, 1 = 57.6k, 2 = 19.2k, 3 = 9600, 4 = 38.4k
Lower byte: 0 = 8/E/1, 1 = 8/O/1, 2 = 8/N/1, 3 = 8/N/2
Current Device Number
Not used
DIP Switch status indication in lower 4 bits
DIP Switch 1- bit 0, DIP Switch 2 – bit,
DIP Switch 3 - bit 2, DIP Switch 4 - bit 3
System error [Lower]. See chapter 16.
System error [Upper]
Axis A error. See chapter 16.
Axis A status [Lower]
Bits
Type
Description
15Mode
0
Idling status (not operating in any operating mode)
12
(hex)
1
Performing Free Homing
2
Performing low-speed homing (forward direction)
3
Performing low-speed homing (reverse direction)
4
Performing High-Speed Homing [Off Edge] (forward)
5
Performing High-Speed Homing [Off Edge] (reverse)
Performing High-Speed Homing [Marker] (forward
6
direction)
Performing High-Speed Homing [Marker] (reverse
7
direction)
8
Manual operation (stopped) [External input mode]
9
Manual operation (operating) [External input mode]
A
Manual operation (controlled by command)
Chapter 15 Exchanging Data with a Host Controller
15-17
15
Input
Registers
Address
12
13
14
15
16
17
18
19
20
(21 - 24)
15-18
Name
B
Auto mode (positioning control)
C
Auto mode (speed control)
D
Follower mode: operating
E
Follower Mode: stopped
O.RU
1 = axis has overrun error. 0 = no overrun or the overrun is
11
N
cancelled.
In Auto mode, 1 = Dwell, even in idle state. The Dwell bit is
10
Dwell
independent of bits 12-15. The hex value of word 5 or word
7 can be: B400hex (dwell during positioning control);
C400hex (dwell during speed control); 0400hex (Dwell at
start of Auto operation).
In Auto or Manual mode, this is 1 while the positioning by
9
HSR
the HSR input.
In Auto or Manual mode, 1=speed controlled by the
8
FE
Feedrate Overwrite input.
7
JF
In Manual mode, 1= rotating in forward direction.
6
JR
In Manual mode, 1= rotating in reverse direction.
* Axis has moved into the Windowing area = 1. In
4
WND
Windowing mode, WND does not turn on for a follower axis
that is within the window area.
Axis A status [Upper]
Current position of Axis A calculated from the output pulse. [Lower]
Current position of Axis A calculated from the output pulse. [Upper]
Current position of Axis A calculated from the input pulse [Lower]
Current position of Axis A calculated from the input pulse [Upper]
Current speed Axis A calculated from the output pulse [Lower]
Current speed Axis A calculated from the output pulse [Upper]
Currently-executing profile on Axis A in Auto mode.
Currently executing Sequence Table number on Axis A in Auto mode.
Not used
25
Axis B error. See chapter 16.
26
Axis B status [Lower] See Axis A status bits, register 11.
27
Axis B status [Upper]
28
Current position of Axis B calculated from the output pulse. [Lower]
29
Current position of Axis B calculated from the output pulse [Upper]
30
Current position of Axis B calculated from the input pulse [Lower]
31
Current position of Axis B calculated from the input pulse [Upper]
32
Current speed Axis B calculated from the output pulse [Lower]
33
Current speed Axis B calculated from the output pulse [Upper]
34
Currently-executing profile on Axis B in Auto mode.
35
Currently executing Sequence Table number on Axis B in Auto mode.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Input
Registers
Address
(36 – 79)
Name
Not used
80
Current position of Axis A when the latch read coil is turned on. [Lower]
81
Current position of Axis A when the latch read coil is turned on. [Upper]
82
Current position of Axis B when the latch read coil is turned on. [Lower]
83
Current position of Axis B when the latch read coil is turned on. [Upper]
(84 – 99)
Not used
Common Parameters for Axis A outputs (Common Parameter Word 1, see
chapter 11 for details)
Bits
Parameter
0-2
User Units: Pulses, inches, micrometers, degrees, free-form (ASCII)
3-5
Parameter Type: Floating Point or Integer units
6
Homing (Input Pulse): current position of input pulse is changed or
set at the execution of homing.
7
Backlash Compensation: Measured in Scaled Units, or Unscaled
Pulses
8
Homing Direction, Rotary Mode: Commanded or shortest direction
9
Motion Type: Linear (no position rollover) or Rotary (position
rollover)
10
Deceleration Type: Linear or S-Curve
100
11
12-14
Acceleration Type: Linear or S-Curve
Pulse Type: direction / CW pulse / CCW pulse
Common Parameters for Axis A input feedback (Common Parameter Word
2, see chapter 11 for details)
Bits
101
102
GFK-2471A
Parameter
0-2
User Units: Pulses, inches, micrometers, degrees, free-form (ASCII)
3-5
Parameter Type: Floating Point or Integer units
6-8
Final Home Velocity for High-Speed Homing, 50pps – 6400pps
9
Motion Type: Linear (no position rollover), Rotary (position rollover)
12-13
Move Type for External Inputs: Jog, Inching, Inching + Jog
14-15
Pulse Type: Up/down Signal, x1, x2, x4
Set Common Parameters for Axis A external inputs (Common Parameter
Word 3, see chapter 11 for details)
Bits
Parameter
0
Enable HSR Input= 0, disable = 1
2
Enable Feedrate Override (FE) Input = 0, disable = 1
4
Enable Drive OK (DR) Input = 0, disable = 1
6
Enable Move Complete (COIN) Input = 0, disable = 1
8-9
Homing Wait Time: 100 / 250 / 500 / 1000ms
10
Operation at Overrun: 0 = fast stop. 1 = decelerated stop
11
Enable Overrun (Forward or Reverse) Input = 0, disable = 1
Chapter 15 Exchanging Data with a Host Controller
15-19
15
Input
Registers
Address
15-20
Name
12
Operation at Emergency Stop: 0 = fast stop, 1 = decelerated stop
15
Velocity Auto-Correct = 0, disable = 1
103
Output Pulses per Motor Rotation for Axis A [Lower]
104
Output Pulses per Motor Rotation for Axis A [Upper]
105
Output User Units per Motor Rotation for Axis A [Lower]
106
Output User Units per Motor Rotation for Axis A [Upper]
107
Velocity Limit for Axis A [Lower]
108
Velocity Limit for Axis A [Upper]
109
Initial Velocity of Axis A in Auto mode. [Lower]
110
Initial Velocity of Axis A in Auto mode. [Upper]
111
Find Home homing speed of Axis A [Lower]
112
Find Home homing speed of Axis A [Upper]
113
Final Home homing speed of Axis A [Lower]
114
Final Home homing speed of Axis A [Upper]
115
Homing: Acceleration Rate for Axis A [Lower]
116
Homing: Acceleration Rate for Axis A [ [Upper]
117
Homing: Deceleration Rate for Axis A [Lower]
118
Homing: Deceleration Rate for Axis A [Upper]
119
Maximum Velocity for Axis A in manual mode [Lower]
120
Maximum Velocity for Axis A in manual mode [Upper]
121
Initial Velocity for Axis A in manual mode [Lower]
122
Initial Velocity for Axis A in manual mode [Upper]
123
Acceleration Rate for Axis A in manual mode [Lower]
124
Acceleration Rate for Axis A in manual mode [Upper]
125
Deceleration Rate for Axis A in manual mode [Lower]
126
Deceleration Rate for Axis A in manual mode [Upper]
127
Inching Distance for Axis A in manual mode [Lower]
128
Inching Distance for Axis A in manual mode [ [Upper]
129
Backlash Compensation for Axis A [Lower]
130
Backlash Compensation for Axis A [Upper]
131
Feedrate Override Percentage for Axis A
132
* Gear Ratio in Follower operation (master) for Axis A
133
* Gear Ratio in Follower operation (follower) for Axis A
134
Upper Position Limit for Axis A [Lower]
135
Upper Position Limit for Axis A [Upper]
136
Lower Position Limit for Axis A [Lower]
137
Lower Position Limit for Axis A [Upper]
138
Home position data for Axis A in homing [Upper]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Input
Registers
Address
139
Home position data for Axis A in homing [lower]
140
Home Position Offset for Axis A [Lower]
141
Home Position Offset for Axis A [Upper]
142
Registration Move Distance for Axis A [Lower]
143
Registration Move Distance for Axis A [Upper]
144
Input Feedback Pulses per Motor Rotation for Axis A [Lower]
145
Input Feedback Pulses per Motor Rotation for Axis A [Upper]
146
Input Feedback User Units per Motor Rotation for Axis A [Lower]
147
Input Feedback User Units per Motor Rotation for Axis A [Upper]
148
Input feedback Upper Position Limit for Axis A [Lower]
149
Input feedback Upper Position Limit for Axis A [Upper]
150
Free-form User Units for Axis A [Output pulse]: 1st/2nd character (See
chapter 10 for a list of ASCII characters and equivalents).
151
Free-form User Units for Axis A [Output pulse]: 3rd/4th character
152
Free-form User Units for Axis A [Output pulse]: 5th/6th character
153
Free-form User Units for Axis A [Output pulse]: 7th/8th character
154
Free-form User Units for Axis A [Input feedback]: 1st/2nd character (See
chapter 10 for a list of ASCII characters and equivalents).
155
Free-form User Units for Axis A [Input feedback]: 3rd/4th character
156
Free-form User Units for Axis A [Input feedback]: 5th/6th character
157
Free-form User Units for Axis A [Input feedback]: 7th/8th character
158
* Windowing function Interval for Axis A (Lower)
159
* Windowing function Interval for Axis A (Upper)
160
* Windowing function Band in CW direction for Axis A (Lower)
161
* Windowing function Band in CW direction for Axis A (Upper)
162
* Windowing function Band in CCW direction for Axis A (Lower)
163
* Windowing function Band in CCW direction for Axis A (Upper)
164
* Windowing function Velocity Override for Axis A
165
* Windowing function Base Point for Axis A (Lower)
166
* Windowing function Base Point for Axis A (Upper)
(167 –189)
Not used
190
New velocity while Axis A is in motion [Lower]
191
New velocity while Axis A is in motion [Upper]
192
New current position of Axis A when not in motion [Output pulse/Lower]
193
New current position of Axis A when not in motion [Output pulse/Upper]
194
New current position of Axis A when not in motion [Input pulse/Lower]
195
New current position of Axis A when not in motion [Input pulse/Upper]
(196 – 199)
200
GFK-2471A
Name
Not used
Common Parameters word 1 for Axis B (see Input Register 100 for summary,
Chapter 15 Exchanging Data with a Host Controller
15-21
15
Input
Registers
Address
Name
201
Common Parameters word 2 for Axis B (see Input Register 101 for summary,
see chapter 10 for details)
202
Common Parameters word 3 for Axis B (see Input Register 102 for summary,
see chapter 10 for details)
203
Output Pulses per Motor Rotation for Axis B [Lower]
204
Output Pulses per Motor Rotation for Axis B [Upper]
205
Output User Units per Motor Rotation for Axis B [Lower]
206
Output User Units per Motor Rotation for Axis B [Upper]
207
Velocity Limit for Axis B [Lower]
208
Velocity Limit for Axis B [Upper]
209
Initial Velocity of Axis B in Auto mode. [Lower]
210
Initial Velocity of Axis B in Auto mode. [Upper]
see chapter 10 for details)
15-22
211
Find Home homing speed of Axis B [Lower]
212
Find Home homing speed of Axis B [Upper]
213
Final Home homing speed of Axis B [Lower]
214
Final Home homing speed of Axis B [Upper]
215
Homing: Acceleration Rate for Axis B [Lower]
216
Homing: Acceleration Rate for Axis B [ [Upper]
217
Homing: Deceleration Rate for Axis B [Lower]
218
Homing: Deceleration Rate for Axis B [Upper]
219
Maximum Velocity for Axis B in manual mode [Lower]
220
Maximum Velocity for Axis B in manual mode [Upper]
221
Initial Velocity for Axis B in manual mode [Lower]
222
Initial Velocity for Axis B in manual mode [Upper]
223
Acceleration Rate for Axis B in manual mode [Lower]
224
Acceleration Rate for Axis B in manual mode [Upper]
225
Deceleration Rate for Axis B in manual mode [Lower]
226
Deceleration Rate for Axis B in manual mode [Upper]
227
Inching Distance for Axis B in manual mode [Lower]
228
Inching Distance for Axis B in manual mode [ [Upper]
229
Backlash Compensation for Axis B [Lower]
230
Backlash Compensation for Axis B [Upper]
231
Feedrate Override Percentage for Axis B
232
* Gear Ratio in Follower operation (master) for Axis B
233
* Gear Ratio in Follower operation (follower) for Axis B
234
Upper Position Limit for Axis B [Lower]
235
Upper Position Limit for Axis B [Upper]
236
Lower Position Limit for Axis B [Lower]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Input
Registers
Address
Name
237
Lower Position Limit for Axis B [Upper]
238
Home Position data for Axis B in homing [Upper]
239
Home Position data for Axis B in homing [lower]
240
Home Position Offset for Axis B [Lower]
241
Home Position Offset for Axis B [Upper]
242
Registration Move Distance for Axis B [Lower]
243
Registration Move Distance for Axis B [Upper]
244
Input Feedback Pulses per Motor Rotation for Axis B [Lower]
245
Input Feedback Pulses per Motor Rotation for Axis B [Upper]
246
Input Feedback User Units per Motor Rotation for Axis B [Lower]
247
Input Feedback User Units per Motor Rotation for Axis B [Upper]
248
Input feedback Upper Position Limit for Axis B [Lower]
249
Input feedback Upper Position Limit for Axis B [Upper]
250
Free-form User Units for Axis B [Output pulse]: 1 /2
10 for a list of ASCII characters and equivalents).
251
Free-form User Units for Axis B [Output pulse]: 3 /4 character
252
Free-form User Units for Axis B [Output pulse]: 5 /6 character
st
rd
character (see chapter
th
th
th
th
th
253
Free-form User Units for Axis B [Output pulse]: 7 /8 character
254
Free-form User Units for Axis B [Input feedback]: 1 /2 character (see
chapter 10 for a list of ASCII characters and equivalents).
255
Free-form User Units for Axis B [Input feedback]: 3 /4 character
st
nd
rd
th
th
th
256
Free-form User Units for Axis B [Input feedback]: 5 /6 character
257
Free-form User Units for Axis B [Input feedback]: 7 /8 character
258
* Windowing function Interval for Axis B (Lower)
259
* Windowing function Interval for Axis B (Upper)
260
* Windowing function Range in CW direction for Axis B (Lower)
th
th
261
* Windowing function Range in CW direction for Axis B (Upper)
262
* Windowing function Range in CCW direction for Axis B (Lower)
263
* Windowing function Range in CCW direction for Axis B (Upper)
264
* Windowing function Velocity Override for Axis B
265
* Windowing function Base Point for Axis B (Lower)
266
* Windowing function Base Point for Axis B (Upper)
267 – 289
GFK-2471A
nd
Not used
290
New velocity while Axis B is in motion [Lower]
291
New velocity while Axis B is in motion [Upper]
292
New current position of Axis B when not in motion [Output pulse/Lower]
293
New current position of Axis B when not in motion [Output pulse/Upper]
294
New current position of Axis B when not in motion [Input pulse/Lower]
295
New current position of Axis B when not in motion [Input pulse/Upper]
Chapter 15 Exchanging Data with a Host Controller
15-23
15
Input
Registers
Address
(296 - 497)
Name
Not used
498
* Registered sequence (Breakpoint stop) cycle operation for Axis A. Specify
start sequence number.
499
* Registered sequence (Breakpoint stop) cycle operation for Axis B. Specify
start sequence number.
500
Number of elements in the registration Sequence Table of Axis A.
501
Registration Sequence Table 1 for Axis A
The first register contains the number of sequences. For example if there are
10 sequences, registers 501 to 510 will contain the registration sequence
data of Axis A and the registers 511 to 999 will contain zero. The value in the
register 500 will be 10, which is the number of sequences.
…
999
Registration Sequence Table 499 for Axis A
1000
Number of table elements in the Designation Sequence table for Axis A
1001
Designation Sequence 1 for Axis A
The first register contains the number of sequences. For example if there are
10 sequences, registers 501 to 510 will contain the registration sequence
data of Axis A and the registers 511 to 999 will contain zero. The value in the
register 500 will be 10, which is the number of sequences.
…
1499
Designation Sequence 499 for Axis A
1500
Number of elements in the registration Sequence Table of Axis B.
1501
Registration Sequence Table 1 for Axis B
The first register contains the number of sequences. For example if there are
10 sequences, registers 501 to 510 will contain the registration sequence
data of Axis A and the registers 511 to 999 will contain zero. The value in the
register 500 will be 10, which is the number of sequences.
…
1999
Registration Sequence Table 499 for Axis B
2000
Number of table elements in the designation Sequence table for Axis B
2001
Designation Sequence 1 for Axis B
The first register contains the number of sequences. For example if there are
10 sequences, registers 501 to 510 will contain the registration sequence
data of Axis A and the registers 511 to 999 will contain zero. The value in the
register 500 will be 10, which is the number of sequences.
…
2499
(2500 4499)
4500
Designation Sequence 499 for Axis B
Not used
Profiles registered in the MicroMotion module [1 - 16]
…
4515
(4516 4519)
15-24
Profiles registered in the MicroMotion module [241 - 256]
Not used
4520
Profile 1 Acceleration Rate [Lower]
4521
Profile 1 Acceleration Rate [Upper]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Input
Registers
Address
4522
Profile 1 Deceleration Rate [Lower]
4523
Profile 1 Deceleration Rate [Upper]
4524
Profile 1 Velocity [Lower]
4525
Profile 1 Velocity [Upper]
4526
Profile 1 Target Position [Lower]
4527
Profile 1 Target Position [Upper]
…
6560
…
Profile 256 Acceleration Rate [Lower]
6561
Profile 256 Acceleration Rate [Upper]
6562
Profile 256 Deceleration Rate [Lower]
6563
Profile 256 Deceleration Rate [Upper]
6564
Profile 256 Velocity [Lower]
6565
Profile 256 Velocity [Upper]
6566
Profile 256 Target Position [Lower]
6567
Profile 256 Target Position [Upper]
(6568 -)
GFK-2471A
Name
Not used
Chapter 15 Exchanging Data with a Host Controller
15-25
15
Holding Registers
Parameters of the MicroMotion module are written to the MODBUS Holding Registers
Writing parameters to the Holding Registers does not affect the operation of the
MicroMotion module, however. When the coil for parameter setting is turned on, the
parameters are copied to the corresponding Input Registers. The Input Registers are
used for the module’s actual operating parameters. Data in the Input Registers can be
read or written.
The MicroMotion module uses Holding Register addresses [4]0001 to [4]6999.
In the table, (* = requires MicroMotion module IC200UMM002/102-BB or later)
Holding
Registers
Address
(1 - 3)
Not used
4
Set communication speed and transmission format
Upper byte: 0 = 115.2k, 1 = 57.6k, 2 = 19.2k, 3 = 9600, 4 = 38.4k
Lower byte: 0 = 8/E/1, 1 = 8/O/1, 2 = 8/N/1, 3 = 8/N/2
5
Set Device Number for the MicroMotion module
(6 - 99)
100
15-26
Name
Not used
Common Parameters for outputs of Axis A
101
Common Parameter for input feedback of Axis A
102
Common Parameter external inputs of Axis A
103
Output Pulses per Motor Rotation for Axis A [Lower]
104
Output Pulses per Motor Rotation for Axis A [Upper]
105
Output User Units per Motor Rotation for Axis A [Lower]
106
Output User Units per Motor Rotation for Axis A [Upper]
107
Velocity Limit for Axis A [Lower]
108
Velocity Limit for Axis A [Upper]
109
Initial Velocity of Axis A in Auto mode. [Lower]
110
Initial Velocity of Axis A in Auto mode. [Upper]
111
Find Home homing speed of Axis A [Lower]
112
Find Home homing speed of Axis A [Upper]
113
Final Home homing speed of Axis A [Lower]
114
Final Home homing speed of Axis A [Upper]
115
Homing: Acceleration Rate for Axis A [Lower]
116
Homing: Acceleration Rate for Axis A [ [Upper]
117
Homing: Deceleration Rate for Axis A [Lower]
118
Homing: Deceleration Rate for Axis A [Upper]
119
Maximum Velocity for Axis A in manual mode [Lower]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Holding
Registers
Address
120
GFK-2471A
Name
Maximum Velocity for Axis A in manual mode [Upper]
121
Initial Velocity for Axis A in manual mode [Lower]
122
Initial Velocity for Axis A in manual mode [Upper]
123
Acceleration Rate for Axis A in manual mode [Lower]
124
Acceleration Rate for Axis A in manual mode [Upper]
125
Deceleration Rate for Axis A in manual mode [Lower]
126
Deceleration Rate for Axis A in manual mode [Upper]
127
Inching Distance for Axis A in manual mode [Lower]
128
Inching Distance for Axis A in manual mode [ [Upper]
129
Backlash Compensation for Axis A [Lower]
130
Backlash Compensation for Axis A [Upper]
131
Feedrate Override Percentage for Axis A
132
* Gear Ratio in Follower operation (master) for Axis A
133
* Gear Ratio in Follower operation (follower) for Axis A
134
Upper Position Limit for Axis A [Lower]
135
Upper Position Limit for Axis A [Upper]
136
Lower Position Limit for Axis A [Lower]
137
Lower Position Limit for Axis A [Upper]
138
Home Position data for Axis A in homing [Lower]
139
Home Position data for Axis A in homing [lUpper]
140
Home Position Offset for Axis A [Lower]
141
Home Position Offset for Axis A [Upper]
142
Registration Move Distance for Axis A [Lower]
143
Registration Move Distance for Axis A [Upper]
144
Input Feedback Pulses per Motor Rotation for Axis A [Lower]
145
Input Feedback Pulses per Motor Rotation for Axis A [Upper]
146
Input Feedback User Units per Motor Rotation for Axis A [Lower]
147
Input Feedback User Units per Motor Rotation for Axis A [Upper]
148
Input feedback Upper Position Limit for Axis A [Lower]
149
Input feedback Upper Position Limit for Axis A [Upper]
150
Free-form User Units for Axis A [Output pulse]: 1st/2nd character. See chapter
10 for a list of ASCII characters and equivalents.
151
Free-form User Units for Axis A [Output pulse]: 3rd/4th character
152
Free-form User Units for Axis A [Output pulse]: 5th/6th character
153
Free-form User Units for Axis A [Output pulse]: 7th/8th character
154
Free-form User Units for Axis A [Input feedback]: 1st/2nd character
155
Free-form User Units for Axis A [Input feedback]: 3rd/4th character
156
Free-form User Units for Axis A [Input feedback]: 5th/6th character
157
Free-form User Units for Axis A [Input feedback]: 7th/8th character
Chapter 15 Exchanging Data with a Host Controller
15-27
15
Holding
Registers
Address
Name
158
* Windowing function Interval for Axis A (Lower)
159
* Windowing function Interval for Axis A (Upper)
160
* Windowing function Band in CW direction for Axis A (Lower)
161
* Windowing function Band in CW direction for Axis A (Upper)
162
* Windowing function Band in CCW direction for Axis A (Lower)
163
* Windowing function Band in CCW direction for Axis A (Upper)
164
* Windowing function Velocity Override for Axis A
165
* Windowing function Base Point for Axis A (Lower)
166
* Windowing function Base Point for Axis A (Upper)
(167 –189) Not used
190
New velocity while Axis A is in motion [Lower]
191
New velocity while Axis A is in motion [Upper]
192
New current position of Axis A when not in motion [Output pulse/Lower]
193
New current position of Axis A when not in motion[Output pulse/Upper]
194
New current position of Axis A when not in motion [Input pulse/Lower]
195
New current position of Axis A when not in motion [Input pulse/Upper]
(196 - 199) Not used
200
15-28
Common Parameters for Outputs of Axis B (see chapter ?).
201
Common Parameters for Input Feedback of Axis B (see chapter ?).
202
Common Parameters for external inputs of Axis B (see chapter /).
203
Output Pulses per Motor Rotation for Axis B [Lower]
204
Output Pulses per Motor Rotation for Axis B [Upper]
205
Output User Units per Motor Rotation for Axis B [Lower]
206
Output User Units per Motor Rotation for Axis B [Upper]
207
Velocity Limit for Axis B [Lower]
208
Velocity Limit for Axis B [Upper]
209
Initial Velocity of Axis B in Auto mode. [Lower]
210
Initial Velocity of Axis B in Auto mode. [Upper]
211
Find Home homing speed of Axis B [Lower]
212
Find Home homing speed of Axis B [Upper]
213
Final Home homing speed of Axis B [Lower]
214
Final Home homing speed of Axis B [Upper]
215
Homing: Acceleration Rate for Axis B [Lower]
216
Homing: Acceleration Rate for Axis B [ [Upper]
217
Homing: Deceleration Rate for Axis B [Lower]
218
Homing: Deceleration Rate for Axis B [Upper]
219
Maximum Velocity for Axis B in manual mode [Lower]
220
Maximum Velocity for Axis B in manual mode [Upper]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Holding
Registers
Address
221
Initial Velocity for Axis B in manual mode [Lower]
222
Initial Velocity for Axis B in manual mode [Upper]
223
Acceleration Rate for Axis B in manual mode [Lower]
224
Acceleration Rate for Axis B in manual mode [Upper]
225
Deceleration Rate for Axis B in manual mode [Lower]
226
Deceleration Rate for Axis B in manual mode [Upper]
227
Inching Distance for Axis B in manual mode [Lower]
228
Inching Distance for Axis B in manual mode [ [Upper]
229
Backlash Compensation for Axis B [Lower]
230
Backlash Compensation for Axis B [Upper]
231
Feedrate Override Percentage for Axis B
232
* Gear Ratio in Follower operation (master) for Axis B
233
* Gear Ratio in Follower operation (follower) for Axis B
234
Upper Position Limit for Axis B [Lower]
235
Upper Position Limit for Axis B [Upper]
236
Lower Position Limit for Axis B [Lower]
237
Lower Position Limit for Axis B [Upper]
238
Home Position data for Axis B in homing [Upper]
239
Home Position data for Axis B in homing [lower]
240
Home Position Offset for Axis B [Lower]
241
Home Position Offset for Axis B [Upper]
242
Registration Move Distance for Axis B [Lower]
243
Registration Move Distance for Axis B [Upper]
244
Input Feedback Pulses per Motor Rotation for Axis B [Lower]
245
Input Feedback Pulses per Motor Rotation for Axis B [Upper]
246
Input Feedback User Units per Motor Rotation for Axis B [Lower]
247
Input Feedback User Units per Motor Rotation for Axis B [Upper]
248
Input feedback Upper Position Limit for Axis B [Lower]
249
Input feedback Upper Position Limit for Axis B [Upper]
250
Free-form User Units for Axis B [Output pulse]: 1st/2nd character. See chapter
10 for a listing of ASCII characters and equivalents.
251
Free-form User Units for Axis B [Output pulse]: 3rd/4th character
252
Free-form User Units for Axis B [Output pulse]: 5th/6th character
253
Free-form User Units for Axis B [Output pulse]: 7th/8th character
254
Free-form User Units for Axis B [Input feedback]: 1st/2nd character
155
Free-form User Units for Axis B [Input feedback]: 3rd/4th character
256
Free-form User Units for Axis B [Input feedback]: 5th/6th character
257
Free-form User Units for Axis B [Input feedback]: 7th/8th character
258
GFK-2471A
Name
* Windowing function Interval for Axis B (Lower)
Chapter 15 Exchanging Data with a Host Controller
15-29
15
Holding
Registers
Address
Name
259
* Windowing function Interval for Axis B (Upper)
260
* Windowing function Band in CW direction for Axis B (Lower)
261
* Windowing function Band in CW direction for Axis B (Upper)
262
* Windowing function Band in CCW direction for Axis B (Lower)
263
* Windowing function Band in CCW direction for Axis B (Upper)
264
* Windowing function Velocity Override for Axis B
265
* Windowing function Base Point for Axis B (Lower)
266
267 – 289
290
* Windowing function Base Point for Axis B (Upper)
Not used
New velocity while Axis B is in motion [Lower]
291
New velocity while Axis B is in motion [Upper]
292
New current position of Axis B when not in motion [Output pulse/Lower]
293
New current position of Axis B when not in motion [Output pulse/Upper]
294
New current position of Axis B when not in motion [Input pulse/Lower]
295
New current position of Axis B when not in motion [Input pulse/Upper]
(296 - 497) Not used
498
* Registered sequence (Breakpoint stop) cycle operation for Axis A. Specify
start sequence number.
499
* Registered sequence (Breakpoint stop) cycle operation for Axis B. Specify
start sequence number.
500
Number of elements in the Registered Sequence Table of Axis A.
501
…
999
Registered Sequence Table 499 for Axis A
1000
Number of table elements in the Specified Sequence table for Axis A
1001
Specified Sequence 1 for Axis A
…
The first register contains the number of sequences. For example if there are 10
sequences, registers 501 to 510 will contain the registration sequence data of
Axis A and the registers 511 to 999 will contain zero. The value in the register
500 will be 10, which is the number of sequences.
1499
Specified Sequence 499 for Axis A
1500
Number of elements in the Registered Sequence Table of Axis B.
1501
…
1999
15-30
Registered Sequence Table 1 for Axis A
The first register contains the number of sequences. For example if there are 10
sequences, registers 501 to 510 will contain the registration sequence data of
Axis A and the registers 511 to 999 will contain zero. The value in the register
500 will be 10, which is the number of sequences.
Registered Sequence Table 1 for Axis B
The first register contains the number of sequences. For example if there are 10
sequences, registers 501 to 510 will contain the registration sequence data of
Axis A and the registers 511 to 999 will contain zero. The value in the register
500 will be 10, which is the number of sequences.
Registered Sequence Table 499 for Axis B
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Holding
Registers
Address
2000
2001
…
2499
(2500 4499)
Number of table elements in the Specified Sequence table for Axis B
Specified Sequence 1 for Axis B
The first register contains the number of sequences. For example if there are 10
sequences, registers 501 to 510 will contain the registration sequence data of
Axis A and the registers 511 to 999 will contain zero. The value in the register
500 will be 10, which is the number of sequences.
Specified Sequence 499 for Axis B
Not used
4519
Specify Profile data number to set
4520
Profile 1 Acceleration Rate [Lower]
4521
Profile 1 Acceleration Rate [Upper]
4522
Profile 1 Deceleration Rate [Lower]
4523
Profile 1 Deceleration Rate [Upper]
4524
Profile 1 Velocity [Lower]
4525
Profile 1 Velocity [Upper]
4526
Profile 1 Target Position [Lower]
4527
Profile 1 Target Position [Upper]
…
…
6560
Profile 256 Acceleration Rate [Lower]
6561
Profile 256 Acceleration Rate [Upper]
6562
Profile 256 Deceleration Rate [Lower]
6563
Profile 256 Deceleration Rate [Upper]
6564
Profile 256 Velocity [Lower]
6565
Profile 256 Velocity [Upper]
6566
Profile 256 Target Position [Lower]
6567
Profile 256 Target Position [Upper]
(6568 -)
GFK-2471A
Name
Not used
Chapter 15 Exchanging Data with a Host Controller
15-31
15
MODBUS Function Code Descriptions
This section describes the MODBUS functions that a host can use to read or write
MicroMotion module data.
Function Code 0x01 (Read Coil Status)
The host can send this command to read the status of one or more coils in the
MicroMotion module. The Read Coil Status command cannot be broadcast.
Response
The module returns the status of all requested coils in the data field of the response.
For each bit, 1 means the coil is ON and 0 means the coil is OFF. Each byte indicates
the status of 8 points; unused bits are filled with zeros.
If the starting address and number of coils specified in the query result in some data
being partly or completely out of range (B and C below), the module returns an
Exception Response.
0
Range
303
(A): Number of bits and address all within range.
(A)
(B): Partly out of range.
(B)
(C)
(C): Completely out of range.
Although the status of a coil that has no function assigned is off, the status when the
coil is turned on with function code 0x05 and 0x0F is held. (The operation of the
MicroMotion module is not influenced.)
Example Query and Response
In this example, the host reads the coil status of addresses from 110 to 123 (14 points)
from the MicroMotion module assigned to Device Address number 03.
Query (hex)
15-32
Response (hex)
Device address
03
Device address
03
MODBUS Function code
01
MODBUS Function code
01
Coil starting address (upper)
00
Number of data bytes
02
Coil starting address (lower)
6D
Coil data (upper)
CB
Number of coils (upper)
00
Coil data (lower)
0A
Number of coils (lower)
0E
Error check
[CRC]
Error check
[CRC]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Function Code 0x02 (Read Input Status)
The host can send this command to read the status of one or more Input bits in the
MicroMotion module. The Read Input Status command cannot be broadcast
Response
The module returns the status of all requested Input Status bits in the data field of the
response. For each bit, 1 means the coil is ON and 0 means the coil is OFF. Each byte
indicates the status of 8 points; unused bits are filled with zeros.
If the starting address and number of bits specified in the query result in some data
being partly or completely out of range (B and C below), the module returns an
Exception Response.
1000
1003
Range
(A): Number of bits and address all within range.
(A)
(B): Partly out of range.
(B)
(C)
(C): Completely out of range.
Example Query and Response
In this example, the host reads the input status of addresses from 12408 to 12415 (8
bits) from the MicroMotion module assigned to Device Address number 05.
Query (hex)
Device address
Response (hex)
05
Device address
05
MODBUS Function code
02
MODBUS Function code
02
Input status starting address (upper)
09
Number of data bytes
01
Input status starting address (lower)
67
Input status data
C5
Number of input status bits (upper)
00
Error check
[CRC]
Number of input status bits (lower)
08
Error check
[CRC]
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-33
15
Function Code 0x03 (Read Holding Registers)
The host can send this command to read the content of one or more Holding Registers
in a MicroMotion module. The Read Holding Registers command cannot be broadcast.
Response
The MicroMotion module returns the content of all requested Holding Registers in the
data field of the response. The status of each register is stored in the Holding Register
Data in order of upper byte then lower byte.
If the starting address and number of registers specified in the query result in some
data being partly or completely out of range (B and C below), the module returns an
Exception Response.
40001
45999
Range
(A): Number of words and address all within range.
(A)
(B): Partly out of range.
(B)
(C)
(C): Completely out of range.
Holding Registers that are not currently being used are normally set to 0. If function
code 0x06 or 0x10 writes data to an unassigned Holding Register, the module retains
the value that is written. However, that does affect the operation of the module. Values
in the Holding Registers do not control module operation until their corresponding coils
are set to 1, as described previously.
Example Query and Response
In this example, the host reads the status of Holding Registers from 42001 to 42002 (2
words) from the MicroMotion Module assigned to Device Address number 10 decimal
(0A hex).
Query (hex)
15-34
Response (hex)
Device address
0A
Device address
0A
MODBUS Function code
03
MODBUS Function code
03
Holding register starting address
(upper)
07
Number of data bytes
04
Holding register starting address
(lower)
D0
Holding register data 1
(upper)
49
Number of holding registers (upper)
00
Holding register data 1 (lower)
2A
Number of holding registers (lower)
02
Holding register data 2
(upper)
C1
Error check
[CRC]
Holding register data 2 (lower)
F5
Error check
[CRC]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Function Code 0x04 (Read Input Registers)
The host can send this command to read the content of Input Registers in a
MicroMotion Module. The Read Input Registers command cannot be broadcast.
Response
The MicroMotion module returns the requested words from the Input Registers in the
data field of the response. The content of each register is stored in the Input Registers
in order of upper byte then lower byte. Unused Input Registers are set to 0.
If the specified starting address and number of registers in the query result in some
data being partly or completely out of range (B and C below), the module returns an
Exception Response.
30001
35999
Range
(A): Number of words and address all within range.
(A)
(B): Partly out of range.
(B)
(C)
(C): Completely out of range.
Example Query and Response
In this example, the host reads Input Registers from 30160 to 30161 (2 words) from
the MicroMotion module assigned to Device Address number 10 decimal (0A hex).
Query
Response
Device address
0A
Device address
0A
MODBUS Function code
04
MODBUS Function code
04
Input register starting address (upper)
00
Number of data bytes
04
Input register starting address (lower)
9F
Input register data 1 (upper)
49
Number of input registers (upper)
00
Input register data 1 (lower)
2A
Number of input registers (lower)
02
Input register data 2 (upper)
C1
Error check
[CRC]
Input register data 2 (lower)
F5
Error check
[CRC]
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-35
15
Function Code 0x05 (Force Single Coil)
The host can send this command to write to one coil (bit) in one or more MicroMotion
modules. If this command is broadcast, the same coil is written in each MicroMotion
module.
Response
The normal response to this query is the same as the query. When this command is
broadcast, no response is returned.
If this command sets a coil that does not have an assigned function, the coil status
changes to 1 but the operation of the MicroMotion module is not affected.
Example Query and Response
In this example, the host turns ON (sets to 1) coil 120 for a MicroMotion module
assigned to Device Address number 21 decimal (15 hex).
Query (hex)
15-36
Response (hex)
Device address
15
Device address
15
MODBUS Function code
05
MODBUS Function code
05
Coil starting address (upper)
00
Coil starting address (upper)
00
Coil starting address (lower)
77
Coil starting address (lower)
77
Change data (upper)
FF
Change data (upper)
FF
Change data (lower)
00
Change data (lower)
00
Error check
[CRC]
Error check
[CRC]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Function Code 0x06 (Force Single Register)
The host can send this command to write to one Holding Register in one or more
MicroMotion modules. If this command is broadcast, the same Holding Register is
written in each MicroMotion module.
Response
The normal response to this query is the same as the query. When this command is
broadcast, no response is returned.
If this command sets a coil that does not have an assigned function, the coil status
changes to 1 but the operation of the MicroMotion module is not affected.
Example Query and Response
In this example, the host writes the value 20 decimal (14 hex) into Holding Register
40001 in the MicroMotion module assigned to Device Number address 27.
Query (hex)
Response (hex)
Device address
1B
Device address
1B
MODBUS unction code
06
MODBUS Function code
06
Register starting address (upper)
00
Register starting address (upper)
00
Register starting address (lower)
00
Register starting address (lower)
00
Change data (upper)
00
Change data (upper)
00
Change data (lower)
14
Change data (lower)
14
Error check
[CRC]
Error check
[CRC]
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-37
15
Function Code 0x0F (Force Multiple Coils)
This command writes to one or more coils in one or more MicroMotion modules. If this
command is broadcast, the same coil numbers are written to in each MicroMotion
module.
Data is written in 8-bit bytes. If the ending data in the query sent by the host is less
than 8 bits, the ending bits are ignored.
Response
The normal response to this query is the same as the query except for the number of
bytes in the query and data area. When this command is broadcast, no response is
returned.
If this command sets a coil that does not have an assigned function, the coil status
changes to 1 but the operation of the MicroMotion module is not affected.
Example Query and Response
In this example, the host sets the status of coils 170 to 172 (3 points) in the
MicroMotion module assigned to Device Address number 31 decimal (1F hex) as
follows:
177
170
Any Any Any Any Any ON OFF ON
Query (hex)
15-38
Response (hex)
Device address
1F
Device address
1F
MODBUS Function code
0F
MODBUS Function code
0F
Coil starting address (upper)
00
Coil starting address (upper)
00
Coil starting address (lower)
A9
Coil starting address (lower)
A9
Number of coils (upper)
00
Number of coils (upper)
00
Number of coils (lower)
03
Number of coils (lower)
03
Number of bytes
01
Error check
[CRC]
Change data
05
Error check
[CRC]
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
15
Function Code 0x10 (Force Multiple Registers)
The host can use this command to write to one or more Holding Registers in one or
more MicroMotion modules.. If this command is broadcast, the same Holding Registers
are rewritten in all MicroMotion modules.
Response
The normal response to this query is the same as the query except for the data
sections. When this command is broadcast, no response is returned.
If this command writes to a register that does not have an assigned function, the value
is changed but the operation of the MicroMotion module is not affected.
Example Query and Response
The host writes to Holding Registers 40118 and 40119 (2 words) in the MicroMotion
module that is assigned to Device Address number 51 decimal (33 hex). The data to
be written is:
40118
40119
H
H
3 8
0 0
8 0
0 1
Query (hex)
Response (hex)
Device address
33
Device address
33
MODBUS Function code
10
MODBUS Function code
10
Register starting address (upper)
00
Register starting address
(upper)
00
Register starting address (lower)
75
Register starting address
(lower)
75
Number of registers (upper)
00
Number of registers (upper)
00
Number of registers (lower)
02
Number of registers (lower)
02
Number of bytes
04
Error check
[CRC]
Change data 1 (upper)
38
Change data 1 (lower)
80
Change data 2 (upper)
00
Change data 2 (lower)
01
Error check
[CRC]
GFK-2471A
Chapter 15 Exchanging Data with a Host Controller
15-39
15
15-40
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Chapter
Error Codes
16
This section describes the error codes that may be reported by a MicroMotion Module,
and explains how errors can be read and cleared from the Setup Tool, or by a
VersaMax Micro PLC CPU or host controller.
▪
Types of Errors
▪
Axis Errors
▪
System Errors
▪
Error Codes for Axis Errors
▪
Error Codes for System Errors
▪
Reading and Clearing Errors
GFK-2471A
▪
Error Handling from the Setup Tool
▪
Error Handling from a VersaMax Micro PLC CPU
▪
Error Handling from a Host Controller
16-1
16
Types of Errors
The MicroMotion detects errors on each axis, module errors, and communications
errors. The MicroMotion Module indicates error codes in its Input Status Data.
Axis Errors
An axis error is an error for an individual axis. Axis errors include incorrect parameters,
or exceeding the specified distance or speed during operation.
Axis Error Levels
There are two axis error levels: warning and abnormal.
▪
If a warning axis error occurs, the operation is able to continue. If the error is an
incorrect setting, the incorrect setting is ignored. The ST1 LED remains on.
▪
If an abnormal axis error occurs, the axis stops and the ST1 LED turns off. The
ST1 LED lights again when the error condition has been corrected and the error
has been cleared. (It is possible to return to the reverse direction if an overrun has
occurred.) If the error is an incorrect setting, the incorrect setting is ignored.The
module continues to use the current value.
System Errors
System errors include errors in the operation of the MicroMotion Module and
communications errors. When a system error occurs, the ST1 LED is turned off
according to the error level. (ST1 LED lights up when canceling the error factors and
executing the operation for clearing the error.) But, when the failure level error occurs,
STATUS LED is turned off.
System Error Levels
There are three system error levels: warning, abnormal, and failure.
16-2
▪
If a System warning occurs, the operation is able to continue. If the warning is
because of an incorrect setting, the incorrect setting is ignored. The ST1 LED
remains on.
▪
Abnormal errors occur when reading parameters from backup memory or from
the Memory Option Module. The system will not operate until the parameter is
set again. The ST1 LED is turned off
▪
Failure is the most serious error. Operation stops and the MicroMotion Module’s
Status LED is turned off.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
16
Error Codes for Axis Errors
The following table lists the error codes for axis errors in numerical order.
* Error codes shown with an asterisk apply to MicroMotion Modules
IC200UMM002/102-BB or later.
Error
When Detected
Description of Axis Error
(hex)
10 Always
During operation, the Emergency Stop (ES) input turned off and
the operation stopped. ES turned off during stop.
11
During operation/stop, FO input turned off and the operation
stopped.
12
During operation/stop, RO input turned off and the operation
stopped.
13 At operation
Cannot start the operation because COIN input did not turn on.
14 start
Cannot start the operation because DR input did not turn on.
15 During
Operation stopped because DR input turned off during operation.
16 operation
Operation stopped due to exceeding Upper Position Limit common
parameter (+2,147,483,647 for Integer data type and
2,147,483,583 for Floating Point data type).
17
Operation stopped due to exceeding Lower Position Limit common
parameter (-2,147,483,648 for Integer data type and
2,147,483,583 for Floating Point data type).
18 Always
Detected error in Common Parameter data during operation.
19
Detected error in Sequence Table data during operation.
1A
Detected error in Profile data during operation.
1F At powerup
The power supply is turned off while the operation is stopped due
to Emergency Stop input. * This error is saved in backup memory.
20 Common
Scales of initial velocity, upper limit velocity, acceleration, and
parameter setup deceleration are not correct.
21 Auto mode
Scales of initial velocity, upper limit velocity, acceleration, and
deceleration are not correct. (Detected only when Velocity Auto
Correct is disabled.)
28 Homing
FE input turned on or FE command was received during homing.
29
HSR input turned on or HSR command was received during
homing.
30 Manual mode
During manual operation, the operation stopped because the
Upper Position Limit was exceeded.
31
During manual operation, the operation stopped because the
Lower Position Limit was exceeded.
38
Exceeded the Velocity Limit when changing speed in Auto Mode.
39
During operation on the external input instruction mode, the
manual operation command is received.
3A
During operation on the external input instruction mode, invalid
command was received.
GFK-2471A
Chapter 16 Error Codes
Error
Type
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Warning
Warning
Abnormal
Abnormal
Warning
Warning
Warning
16-3
16
Error
When Detected
Description of Axis Error
(hex)
40 Auto mode
During auto operation, if the next sequence block is performed,
the operation stopped due exceeding the Upper Position Limit.
41
During auto operation, if the next sequence block is performed,
the operation stopped due to exceeding the Lower Position LImit.
Abnormal
42
The command for the operation start is received before homing.
Abnormal
43
44 *
48
50 *
Follower Mode
51 *
52 *
53 *
54 *
55 *
58 *
There is no specified profile data.
Abnormal
Start Sequence Number other than 1 to 499 was specified at
execution of command 34/35 to execute Sequence Table to
Breakpoint.
Abnormal
Speed specified by speed change command exceeded the
Maximum Velocity.
The operation stopped due to exceeding the upper limit position.
(When following in Auto Mode, if the next sequence block is
performed, the operation stopped due to exceeding the upper limit
position.)
The operation stopped due to exceeding the lower limit position.
(When following in Auto Mode, if the next sequence block is
performed, the operation stopped due to exceeding the lower limit
position.)
Slave axis operation conditions failed. The master axis executed.
Cancels Follower mode.
Slave axis during driving (homing, etc). The master axis executed
operation. Cancels Follower mode.
Slave axis follower failure. The slave axis stopped before the
master due to speed correction on the slave axis. Cancels
Follower mode. The MicroMotion module may correct the velocity,
so the master and slave axis may not stop simultaneously. If the
master stops before the slave, the output pulse from the slave is
forced to stop.
Slave axis exceeded upper velocity limit (master velocity x gear
ratio) in Follower mode.
The axis of the follower source is specified to the follower
operation.
Warning
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Abnormal
Warning
59 *
Unable to execute Slave axis. Invalid command sent to Slave axis Warning
(Manual input mode switch, FE, HSR, Speed Change, Position
Change). Does not cancel Follower mode. Does not stop drive of
the slave axis.
5F *
In Auto Mode, the master axis has a triangular profile that is not
Warning
able to reach Target Velocity before being switched to next Target
Velocity. A follower axis may not be able to follow as expected.
60
In command
execution
The command that cannot be executed is received during
operation. The control system command is received when the
common parameter is not set properly.
Warning
61
The command is changed during handshake.
Warning
62
Command cannot be executed due to incorrect parameter or other Warning
reason.
63
16-4
Error
Type
Abnormal
Changing
Position Change command specifies position that exceeds the
current position Upper Position Limit or Lower Position Limit.
VersaMax® Micro PLC MicroMotion Modules – December, 2008
Warning
GFK-2471A
16
Error
When Detected
Description of Axis Error
(hex)
64 * Windowing
Generating interval set to less than 0 or more than absolute value
operation
of the upper and lower position limits. Axis drives but Windowing
enabled
does not operate.
Error
Type
Warning
65 *
Range in CW or CCW direction set to less than 0 or more than
absolute value of the upper and lower position limits. Axis drives
but Windowing does not operate.
Warning
66 * *
Sum of ranges in CW and CCW direction exceeded the useful
interval. The operation mode is linear, and the base position +
useful interval + range in CW direction exceeded the lower limit
position, or the base position + useful interval + range in CCW
direction exceeded the upper limit position.
Warning
Windowing deceleration rate set to less than 1% or more than
100%. Axis drives but Windowing does not operate.
Warning
Base Point for Windowing out of limits or outside position limits.
Warning
67
68 *
Windowing
69 *
Windowing cancelled because axis was set to Follower.
Warning
Windowing cancelled because axis was commanded to perform
Homing.
Windowing cancelled because axis current position was rewritten.
6F
Undefined
command
execution
Undefined command executed.
Warning
80
Setting
Common
Parameters
Common parameter setup error (1) Parameter Type other than
floating point and integer is specified.
Warning
Common parameter setup error (2) The number of Pulses Per
Motor Rotation that was specified (or calculated for other types of
User Units) is out of range.
Warning
82
Common parameter setup error (3) Value of Pulses per Motor
Rotation is less than 10 for Output Pulse
Warning
83
Common parameter setup error (4) The User Units Per Motor
Rotation is out of the valid range.
Warning
84
Common parameter setup error (5) The User Units Per Motor
Rotation specified as 0.
Warning
85
Common parameter setup error (6) The Velocity Limit is out of
range.
Warning
86
Common parameter setup error (7) The Velocity Limit is specified
to 0.
Warning
87
Common parameter setup error (8) Auto Mode Initial Velocity is
specified as 0.
Warning
88
Common parameter setup error (9) Auto Mode Initial Velocity is
higher than the Velocity Limit.
Warning
89
Common parameter setup error (10) Final Home Velocity is
specified as 0.
Warning
8A
Common parameter setup error (11) Final Home Velocity out of
useful range.
Warning
8B
Common parameter setup error (12) Values of Final Home
Velocity and Find Home Velocity are inconsistent.
Warning
81
GFK-2471A
Chapter 16 Error Codes
16-5
16
Error
When Detected
Description of Axis Error
(hex)
Common parameter setup error (13) Find Home Velocity is
8C Setting
specified as 0.
Common
Common parameter setup error (14) Find Home Velocity is out of
8D Parameters
range.
Warning
8E
Common parameter setup error (15) Acceleration Rate for homing Warning
is out of range.
8F
Common parameter setup error (16) Deceleration Rate for
homing is out of range.
Warning
90
Common parameter setup error (17) Manual mode Maximum
Velocity is specified as 0.
Warning
91
Common parameter setup error (18) Manual mode Maximum
Velocity exceeds the Velocity Limit.
Common parameter setup error (19) Manual mode Initial Velocity
is specified as 0.
Common parameter setup error (20) Manual mode Initial Velocity
exceeds the Manual mode Maximum Velocity.
Common parameter setup error (21) Manual mode Initial Velocity
and Maximum Velocity are inconsistent.
Common parameter setup error (22) Manual mode Acceleration
Rate is out of range.
Common parameter setup error (23) Manual mode Deceleration
Rate is out of a valid range.
Common parameter setup error (24) Inching Distance for Manual
mode is out of range.
Common parameter setup error (25) Backlash Compensation is
out of range.
Common parameter setup error (26) Feedrate Override
Percentage exceeds 100%.
Gear Ratio for Follower operation is out of a valid range.
Common parameter setup error (28) The Upper Position Limit
data is out of range.
Common parameter setup error (29) The Lower Position Limit
data is out of range.
Common parameter setup error (30) Upper Position Limit and
Lower Position Limit values are inconsistent.
Common parameter setup error (31) Home Position exceeds the
Upper Position Limit.
Common parameter setup error (32) Home Position exceeds the
Lower Position Limit.
Common parameter setup error (33) Home Position Offset is out
of range.
Warning
92
93
94
95
96
97
98
99
9A
9B
9C
9D
9E
9F
A0
16-6
Error
Type
Warning
VersaMax® Micro PLC MicroMotion Modules – December, 2008
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
GFK-2471A
16
Error
When Detected
Description of Axis Error
(hex)
Common parameter setup error (34) Home Position exceeds the
A1
Setting
Upper Position Limit by the Home Position Offset.
Common
Parameters
Common parameter setup error (35) Home Position exceeds the
A2
Lower Position Limit by the Home Position Offset.
Common parameter setup error (36) Registration Move Distance
A3
is out of range.
Common parameter setup error (37) For input feedback, a
A4
Parameter Type other than floating point or integer is specified.
Common parameter setup error (38) For input feedback, the
A5
Pulses Per Motion Rotation is out of range.
Common parameter setup error (39) For input feedback, the
A6
Pulses Per Motion Rotation is less than 10.
Common parameter setup error (40) For input feedback, the User
A7
Units per Motion Rotation is out of range.
Common parameter setup error (41) For input feedback, the User
A8
Units per Motion Rotation is specified as 0.
Common parameter setup error (42) For input feedback the Upper
A9
Position Limit is out of range.
Common parameter setup error (43) Character code of the FreeAA
form User Units is not ASCII.
Sequence
table setup error (1) The number of profiles + dwells in
Setting
the
B0
Sequence Table the Sequence Table exceeds 499.
Error
Type
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
Warning
B1
Sequence table setup error (2) There is no profile data.
B2
Sequence table setup error (3) Profile with Control set to Position Warning
and Type set to Continue was followed immediately by profile with
Control set to Speed.
B3
Sequence table setup error (4) Profile with Type set to Continue
was followed immediately by a Dwell.
B4
Sequence table setup error (5) Profile with Control set to Speed,
Warning
Direction set to either forward or reverse and Type set to
Continuous was followed immediately by profile with Control set to
Speed and Direction set to the opposite.
B5
Sequence table setup error (6) Last profile in the Sequence Table Warning
has its Type set to Continue.
B6
Sequence table setup error (7) Profile data is not compatible with
change to the Common Parameters.
Warning
B7
Sequence table setup error (8) Data in the Sequence Table is not
compatible with change to the Common Parameters.
Warning
B8
Sequence table setup error (9) 101 or more profiles in the
Sequence Table are set to continue.
Warning
B9 * **
Sequence table setup error (10) A sequence step is set with
"speed continue" and a breakpoint is set to that sequence step
Warning
GFK-2471A
Chapter 16 Error Codes
Warning
Warning
16-7
16
Error
When Detected
Description of Axis Error
(hex)
Profile data setup error (1) Acceleration Rate for the profile is out
C0** Setting the
of range.
Profile Data
Error
Type
Warning
C1**
Profile data setup error (2) Deceleration Rate for the profile is out
of range.
Warning
C2**
Profile data setup error (3) Velocity specified for the profile
exceeds the Common Parameter for Velocity Limit.
Warning
C3**
Profile data setup error (4) Velocity specified for the profile is
below the Common Parameter for Initial Velocity.
Warning
C4**
Profile data setup error (5) Target Position for the profile exceeds
the Common Parameter for Upper Position Limit.
Warning
C5**
Profile data setup error (6) Target Position for the profile is below
the Common Parameter for Lower Position Limit.
Warning
C7 *
Profile data in Registered Sequence Table filed to initialize.
Warning
C6
Profile data setup error (7) Incorrect profile number specified (not
0 – 255).
Warning
* * Only the profile data registered in the sequence table is checked. These error
codes will be generated while setting the sequence table.
16-8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
16
Error Codes for System Errors
The following table lists the error codes for system errors in numerical order.
Error
(hex)
E101
When
Detected
Off
Stop
Failure
System RAM cannot read and write correctly.
Off
Stop
Failure
Always
Address error interrupt and undefined command
interrupt occurred in the module.
Off
Stop
Failure
During operation, system ROM data error is detected.
Off
Stop
Failure
Off
Stop
Failure
Off
Stop
Abnormal
Off
Stop
Abnormal
E105
Powerup
Dedicated processor does not start.
E201
Always
▪
VersaMax Micro PLC stopped while MicroMotion
Module was operating on an instruction from the
Micro PLC.
▪
▪
Micro PLC power supply is off.
The expansion cable is not connected.
When the MicroMotion Module is controlled by the
VersaMax Micro PLC, the Status LED on the
MicroMotion Module module is turned off if the Micro
PLC is not operating or present.
Monitoring starts after an instruction is received by the
MicroMotion Module. If no instruction is received after
the power is turned on, the status LED is turned off
but no error code is reported.
GFK-2471A
Error
Level
Data of system RROM is not correct.
E104
E202
Status Oper
LED ation
Powerup
E102
E103
Description
The MicroMotion Module is connected to a VersaMax
Micro PLC but its DIP switch is set for standalone. The
Status LED is turned off.
Chapter 16 Error Codes
16-9
16
Error
(hex)
E301
When
Detected
Powerup
Status Oper
LED ation
Description
Error
Level
Failed in reading axis parameters (common
parameters, profile data, sequence table). Subcode
contains additional information:
b15
b7 b6
b0
B
Unused (0)
A B
A
1: ERR,
0: Normal
Common parameters
for Axis A, Axis B
Sequence table for
Axis A, Axis B
Off
Stop
Abnormal
Profile data
Axis Information backup
System Parameters
For error codes that do not have subcodes, the
subcode data is 0000.
E302
Failed in reading a system communication parameter.
Subcode (see above) contains additional information.
Off
Stop
Abnormal
E303
Axis parameters (common parameters, profile data,
sequence table) read from a Memory Option Module
not correct. Subcode (see above) contains additional
information.
Off
Stop
Abnormal
A communication parameter read from a Memory
Option Module is not correct.
Off
Stop
Abnormal
E304
E401
Data
Backup
Failed in backing up parameters. Subcode (see
above) contains additional information.
On
Run
Warning
E402
Writing to
Memory
Module
Failed in writing parameters to Memory Option
Module. Subcode (see above) contains additional
information.
On
Run
Warning
Command
is received
Received a command from a VersaMax Micro PLC
while set up for standalone operation.
On
Run
Warning
If a previous command is writing a value into backup
memory and another command is executed that does
not write to backup memory (for example, a Jog
command), this error may not occur. If both
commands need to write to backup memory ,and the
first command is not yet completed its writing process
into backup memory,then only this error code will
appear
On
Run
Warning
Received another command while writing to Memory
Option Module. If a command was received while
writing to a Memory Option Module, this error may not
occur.
On
Run
Warning
Received an undefined command from a VersaMax
Micro PLC.
On
Run
Warning
E501
E502
E503
E504
16-10
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
16
Error
(hex)
When
Detected
E601
MODBUS
Query
received
from host
Description
Status Oper
LED ation
Error
Level
Detected a parity error in query from a host.
On
Run
Warning
Detected a framing error in query from a host.
On
Run
Warning
Detected an overrun error in query from a host.
On
Run
Warning
E604
Detected a CRC error in query from a host.
On
Run
Warning
E801
Received an unsupported function. (Returned an
exception response of wrong function.)
On
Run
Warning
E802
Received a query which accesses an address that
does not exist. (Returned an exception response of
wrong data address.)
On
Run
Warning
E803
Received data not acceptable. (Returned an
exception response of wrong data.)
On
Run
Warning
E804
Received a query while the MicroMotion Module is out
of order. (Returned an exception response of a slave
device trouble.)
Off
Stop*
Warning
Received another query while a process to the query
is performed. (Returned an exception response of a
slave device busy.)
On
Run
Warning
E602
E603
E806
▪
GFK-2471A
If a query is transmitted when the MicroMotion Module has stopped operating due to an
error, it returns a query response of slave device trouble.
Chapter 16 Error Codes
16-11
16
Reading and Clearing Errors
This section is a quick reference to reading and clearing errors. Additional setup,
control, and monitoring will be needed to complete an application.
Error Handling from the MicroMotion Setup Tool
In Online mode, the Setup Tool (see chapter 12) displays any System Errors and Axis
Errors. Click on X to clear an error.
16-12
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
16
Error Handling from a VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU (see chapter 14), can monitor the module’s Input Status
Data for error conditions. The module returns axis error codes as 1-byte hexadecimal
values in the 3rd and 4th words of the default Input Status Data format:
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Word 2
Axis B External Input States
Axis A External Input States
Word 3
Axis A Error code
Axis A Executing Profile, or Status Bits
Word 4
Axis B Error code
Axis B Executing Profile, or Status Bits
Word 5
Axis A Current Position (lower word)
Word 6
Axis A Current Position (upper word)
Word 7
Axis B Current Position (lower word)
Word 8
Axis B Current Position (upper word)
System errors can be viewed in the Input Status Data by sending command A4hex or
AEhex to the module. The Input Status Data for command A4 is shown below.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Axis B External Input States
Word 2
Axis A External Input States
Word 3
System Error 1
Word 4
System Error 2
Word 5
Not used (holds previous value)
Word 6
Not used (holds previous value)
Word 7
Not used (holds previous value)
Word 8
Not used (holds previous value)
The Input Status Data response to command AE is similar, except that command AE
also returns axis status and error information.
Input Status Data
Word 1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis B External Input States
Word 2
Word 3
Axis A Error code
Word 4
Axis B Error code
Word 5
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
System Error 1
Word 6
System Error 2
Word 7
Not used (holds previous value)
Word 8
Not used (holds previous value)
Clearing Errors
After the condition that caused the error has been corrected, the VersaMax Micro PLC
CPU can clear the error status by sending command 01hex (Clear All Errors), 02hex
(Clear System Errors), or 03hex (Clear Axis Error) to the module. See chapter 14 for
instructions.
GFK-2471A
Chapter 16 Error Codes
16-13
16
Error Handling from a Host Controller
A host controller (see chapter 15) can check for the presence of axis errors by reading
the contents of Input Status Table bits:
Input Status Table
Address
Contents
9
Axis B error =1. Corrected and cleared = 0.
12
Axis A error = 1. Corrected and cleared = 0.
151
Axis A error status:
0 = no error, 1 = error
152
Axis B error status:
0 = no error, 1 = error
If an error is present, the host controller can read the error code in the module’s Input
Register Table:
Input Registers
Address
Contents
8
System error [Lower]
9
System error [Upper]
10
Axis A error
25
Axis B error
Clearing Errors
After the condition that caused the error has been corrected, the host controller can
clear the error status by writing a 1 to coil 200 (Clear All Errors), coil 201 (Clear Axis A
Error), or coil 202 (Clear Axis B Error) to the module. See chapter 15 for instructions.
16-14
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Appendix
Floating Point Data
A
Floating point data in the MicroMotion module uses the single-precision floating-point
(IEEE754) format.
Floating Point Data Format
Single-precision floating point is 32-bit data with the format shown below.
31 30
sign
23 22
8-bit exponent
Bit 31 is the sign bit.
0
23-bit mantissa
0 = Positive number, 1 = Negative number
Exponent
Exponent
part (E)
FF
FE
GFK-2471A
Power-of two number (E’)
Overflow value
127
Mantissa
Mantissa
part (M)
7FFFFF
(1.11 - - - 11)2
7FFFFE
(1.11 - - - 10)2
Mantissa number (M’)
80
1
1
(1.00 - - - 01)2
7F
0
0
(1.00 - - - 00)2
7E
-1
01
-126
00
Handled as 0
A-1
A
Floating point (F) data can be represented as the following mathematical expression,
with: Sign (S), Exponent (E), and Mantissa (M).
(F) = (-1)S (1 + M2-23) 2E-7FH = (-1)S M’ 2E’
The range of values that can be represented in 32-bit floating point format is:
Hexadecimal
Upper word
Lower word
7F7F
FFFF
Remarks
+3.402823…10
38
Maximum value
0000
+1.175494…10
-38
Absolute value is the minimum
positive number
8080
0000
-1.175494…10
-38
Absolute value is the minimum
negative number
FF7F
FFFF
-3.402823…10
38
Minimum value
0080
A-2
Floating Point
Handled as 0
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
A
Using Floating Point Data
The limited number of significant digits in 32-bit floating point format may result in
differences between the result of a calculation and the true value. When the Parameter
Type for an axis is set up as Floating Point, all of parameters for that axis (for example,
position and velocity data) will be floating point format.
The following types of errors may occur when using floating point data:
Rounding off
error
Because the operation result is represented in the number of
significant digits, error occurs by deleting the lower digits with
rounding down / rounding up/ rounding.
Example: If decimal number 0.1 is converted to binary, it will be
a repeating decimal. It is an approximation to 0.1 within the
limited number of significant digits, but it is not the same as 0.1.
Large Underflow
When adding or subtracting numbers with a very large and a
small value, the small value is not reflected to the calculation
result.
Example: When adding 1234 and 0.0056, the expected
calculation result is 1234.0056. But the mantissa of the number
is rounded down because the calculation is based on the
number with large exponent bits.
Small Underflow
When subtracting two close numbers, the number of significant
digits decreases, resulting in calculation error.
Example: When subtracting 1.23789 from 1.23456, the number
of significant digits before calculation is 6. But the number of
significant digits of the calculation result is 3 because the
calculation results is –0.00333.
GFK-2471A
Appendix A Floating Point Data
A-3
A
Floating Point Accuracy of the MicroMotion Module
The MicroMotion Module converts floating point data to integer data. The module also
converts position and velocity data into pulses. These and other data conversions and
calculations can result in slight inaccuracies. For example if the Maximum Velocity for
an axis is set to 100,000 pulses/second, the actual pulse is output at 100,000pps, but
the current velocity indication reported back is 99,999pps.
Position Errors in Auto Mode
When using floating point format, if a long move distance is set for a profile in Auto
mode and the absolute measurement is set up for the profile in the Sequence Table,
the set position and the stop position may become mis-aligned.
Real Number
Floating
Point (hex)
2147483647
…
Floating
Point (hex)
214748364.7
4F000000
2147483584
…
Real Number
(0.00001 Unit)
Floating
Point (hex)
21474.83647
4D4CCCCD
214748360.1
…
46A7C5AC
21474.83497
…
…
…
…
…
…
16999991
4B81B31B
1099999.3
498646FA
139.99993
430BFFFB
16999990
1099999.2
139.99992
16999989
4B81B31A
1099999.1
498646F9
139.99991
…
…
…
…
…
…
2
40000000
0.2
3E4CCCCD
0.00002
37A7C5AC
1
3F800000
0.1
3DCCCCCD
0.00001
3727C5AC
0
00000000
0
00000000
0
00000000
-1
BF800000
-0.1
BDCCCCCD
-0.00001
B727C5AC
-2
C0000000
-0.2
BE4CCCCD
-0.00002
B7A7C5AC
…
…
…
…
-1099999.1
C98646F9
-139.99991
C30BFFFA
-1099999.2
C98646FA
-139.99992
C30BFFFB
…
-16999990
CB81B31B
-16999991
CB81B31C
-16999992
…
-1099999.3
…
-2147483584
…
-2147483648
A-4
Real Number
(0.1 unit)
…
-139.99993
…
-214748360.1
CF000000
…
430BFFFA
…
…
-21474.83497
CD4CCCCC
-214748364.8
VersaMax® Micro PLC MicroMotion Modules – December, 2008
…
C6A7C5AC
-21474.83648
GFK-2471A
A
In Auto mode, there may be a difference in final position reached when the same
target position is specified with absolute and increment positioning.
The examples below show the difference in operation resulting from floating point
conversion with the target position set as absolute or incremental.
Current position
(Display)
60,000,000
(60,000,000 pulse)
Converted into real number
by module
0
CW
(60,000,000)
CCW
Absolute 59,999,998
(1,000,000 x 59 + 999,998 pulse)
Converted into real number
by firmware
0
CW
(59,999,998)
Increment 1,000,000 x 59 + 999,998
Floating point (Moved distance)
59,999,998
59,999,999
60,000,000
60,000,001
60,000,002
=
=
=
=
=
H4C64E1C0
H4C64E1C0
H4C64E1C0
H4C64E1C0
H4C64E1C0
Current position
(Display)
60,000,000
CCW
Real number (Output pulse)
60,000,000
60,000,000
60,000,000
60,000,000
60,000,000
H4C64E1C0
H4C64E1C0
H4C64E1C0
H4C64E1C0
H4C64E1C0
Floating point
(Position after moves)
= 60,000,000
= 60,000,000
= 60,000,000
= 60,000,000
= 60,000,000
The equivalent HEX value for different floating point
numbers is same.
GFK-2471A
Appendix A Floating Point Data
A-5
A
Absolute Move
Target position is 59,999,998 pulses (absolute). If this is represented in floating point
format, it becomes 16#4C64E1C0. The MicroMotion Module converts this value to a
real number, and outputs the pulses.
Floating point : 59,999,998 (16#4C64E1C0) (Convert into real number)
Real number : 60,000,000 (Number of output pulses)
The module calculates the current position from the output number of pulses. This
value is converted to floating point.
Output pulse (Real number) 60,000,000(Convert into floating point)
Current position (Display) 60,000,000
In this example, the number of output pulses increases by 2 pulses above the specified
number.
59,999,998 (Number of specified output pulses) ≠ 60,000,000 (Number of
actual output pulses & Current position display)
Incremental Move (Increments of 1,000,000)
Floating point : 1,000,000 (H49742400) (Convert into real number)
Real number : 1,000,000 (Number of output pulses)
The module repeats this 59 times and outputs 999,998 pulses.
Floating point : 999,998 (16#497423E0) (Convert into real number)
Real number : 999,998 (Number of output pulses)
The module calculates current position from the output number of pulses. This value is
converted to floating point.
Output pulse (Real number) 59,999,998(Convert into floating point)
Current position (Display) 60,000,000
In this case, the current position is 2 pulses above the user specification and actual
output pulses.
59.999.998 (Number of specified output pulses & Number of actual output
pulses) ≠ 60,000,000 (Current position display)
A-6
VersaMax® Micro PLC MicroMotion Modules – December, 2008
GFK-2471A
Index
A
Absolute + Incremental Target Positioning
for Linear Moves, 7-9
Absolute or Absolute + Incremental
positioning, 12-31
Absolute Positioning for Rotary Moves, 710
Acceleration, 12-31
Acceleration Rate, 11-20, 11-21, 12-22,
12-23, 12-28
Acceleration Type, 11-7, 12-20
Agency approvals, 2-2
Analog Wiring, 2-11
Approvals, standards, and general
specifications, 2-2
ASCI, 11-28
Auto Mode, 7-2
Auto Mode Operation of a Follower Axis,
8-3
Axis Errors, 16-2
Axis Position, 12-8
Axis Pulse Type, 12-28
B
Backlash Compensation, 1-4, 11-8, 11-22,
12-20
Band (CW and CCW), 9-4
Base Point, 9-4
Breakpoints in a Registered Sequence
Table, 7-5
C
CE Mark Installation Requirement, 2-3
Changing Parameters, 11-31
Coils, 15-6
Coils Table, 15-10
Command List, 14-6
Commands, 14-5
Common Parameter Word 1, 11-5
Common Parameter Word 2, 11-10
Common Parameter Word 3, 11-14
Common Parameters, 12-17
GFK-2471A
Common Parameters Reference Table,
11-2
Communications and Signal Wiring, 2-11
Communications Parameters, 3-11, 14-28,
15-3
Configuration Using Machine Edition, 13-2
Connecting a MicroMotion Module to a
Micro PLC, 2-8
Continuous Profiles in a Sequence Table,
7-11
Control Motion Operation, 12-9
Control the Output Pulse, 12-10
Control Wiring, 2-11
D
Data Exchange Between the CPU and
MicroMotion Module, 14-3
Data Format of a Dwell, 7-23
Deceleration, 12-31
Deceleration Rate, 11-20, 11-21, 12-22,
12-23, 12-28
Deceleration Type, 11-7, 12-20
Description, 1-3
Dimensions, 2-5
DIN rail mounting, 2-6
DIP Switch Setting, 2-9
Display and Clear Axis Errors, 12-6
Drive OK/Ready (DR) input, 10-16, 11-17
Drive OK/Ready Input, 10-16
Dwell Time, 1-4, 12-32
E
Emergency Stop Circuit, 2-21
Emergency Stop Input, 10-17
Enable High-Speed Registration Input, 1118
Enable Drive OK/Ready Input, 11-17
Enable Move Complete Input, 11-17
Enable Overrun Inputs, 11-16
Enabling / Disabling the HSR Input, 9-9
Environmental Guidelines, 2-4
Errors, 16-2
Ethernet Communications Parameters,
12-16
Index-1
Index
Expansion cable, 2-8
Expansion Operation in a VersaMax Micro
PLC, 1-8, 14-2
External Input Mode, 6-7
External Input States, 14-31
External Inputs, 10-2, 12-7
External Inputs During Auto Mode, 7-15
External Inputs during Homing, 5-2
F
Features, 1-4
Feedrate Override (FE) input, 11-18
Feedrate Override Input, 10-10
Feedrate Override Percentage, 10-10, 1123
Final Home Velocity, 11-20
Final Home Velocity for High-Speed
Homing, 11-13
Find Home Velocity, 11-20
Floating Point Data Format, A-1
Follower Mode Configuration, 12-24
Follower Operation, 8-2
Force Multiple Coils, 15-38
Force Multiple Registers, 15-39
Force Single Coil, 15-36
Force Single Register, 15-37
Forward and Reverse Overtravel Inputs,
10-8
Forward or Reverse rotation., 12-31
Forward Overtravel, 11-17
Free Homing, 5-3
Free-form Units for Outputs, 11-28
Functional Specifications, 1-6
G
Gear Ratio for Follower Mode, 8-7
Gear Ratio in Follower Mode, 11-23
General Specifications, 1-5
Grounding
Panel or DIN rail, 2-7
Index-2
H
Handshake bit, 14-4
Handshaking and Axis Status, 14-30
High-Speed Homing [Marker], 5-8
High-Speed Homing [Off-Edge], 5-6
High-Speed Registration (HSR), 5-11
High-Speed Registration (HSR), 11-18
High-Speed Registration Input, 10-4
High-Speed Registration Input in
Windowing, 9-9
Holding Registers, 15-26
Home Position, 11-25
Home Position Limit Input, 10-7
Home Position Offset, 11-25, 12-22
Homing Configuration, 12-22, 12-23
Homing Direction, 11-8, 12-22
Homing Mode Operation of a Follower
Axis, 8-4
Homing Operations, 5-2
HSR Input in Auto Mode, 7-15
I
I/O Signal Wiring, 2-13, 2-18
I/O Specifications, 1-7
IC200UEM001, 3-2
IC200UMB001, 4-2
IC200USB001, 3-2
IC200USB002, 3-2
Immunity and Emissions, 2-2
Inching, 6-7
Inching + Jog, 6-7
Inching Distance, 11-21, 12-23
Inching Operation by Command, 6-4
Incremental Target Positioning for Rotary
Moves, 7-10
Indicators
powerup sequence, 2-22
Initial Velocity, 11-21, 12-23, 12-24
Initial Velocity for Auto Mode, 11-20
Initializing Motion Module Parameters, 1211
Input Configuration, 12-21
VersaMax® Micro PLC MicroMotion Modules– December, 2008
GFK-2471A
Index
Input Data, 14-29
Input Feedback Parameters, 11-34
Input Feedback Position for Homing, 11-8
Input Feedback Pulse Type, 11-11
Input Pulse Homing, 5-2
Input Registers, 15-17
Input Status data, 15-15
Installation Guidelines, 2-3
Installation Instructions, 2-5
Interval Auto-Adjustment, 9-12
J
Jog Forward (JF), 5-11
Jog Forward and Jog Reverse Inputs, 1013
Jog Forward Input in Auto Mode, 7-15
Jog Reverse (JR), 5-11
Jogging, 6-7
Jogging Operation by Command, 6-3
L
Ladder Logic, 14-15, 14-25
LEDs, 2-22
Lower Position Limit, 11-24, 12-20
Low-speed Homing, 5-4
M
Manual Mode Operation Controlled by
External Inputs, 6-6
Manual Mode Operation of a Follower
Axis, 8-2
Marker (Z) input, 5-8, 10-3
Maximum Velocity, 11-21, 12-23
Memory Pack Installation, 4-4
MicroMotion Setup Tool, 12-1, 12-2, 13-4
MODBUS Communications Sequences,
15-8
MODBUS Function Code Descriptions, 1532
Monitor Axis Position, 12-8
Monitor Communications, 4-7, 12-10
Monitor External Inputs, 12-7
GFK-2471A
Index
Monitoring a MicroMotion Module, 12-6,
15-9
Motion Parameters, 12-20
Motion Type, 11-7, 11-12, 12-20
Move Complete (COIN) input, 10-6, 11-17
Move Type for External Input, 11-11
Move types, 1-4
MOVs, 2-12
O
Operating Online or Offline, 12-5
Operation of Emergency Stop Input, 11-16
Output Control Data, 14-4
Overrun, 5-10
Overrun Inputs, 11-17
Overtravel Inputs, 10-8
P
Panel mounting, 2-7
Parameter Data, 12-11
Parameter Type, 11-8, 11-13, 12-20
Port Module Installation, 3-8
Position or Speed control, 12-31
Position rollover, 1-4
Positioning Complete Input, 10-6
Positioning units, 1-4
Power Wiring, 2-11, 2-16
Preinstallation Check, 2-1
Proficy Machine Edition, 1-4
Proficy Machine Edition version, 13-1
Profile Data Settings, 12-28
Profile Parameter Data, 14-24, 14-27
Profile/Dwell, 12-31
Profiles for Auto Mode, 12-26
Pulse output method, 1-4
Pulse Type, 11-6
Pulses per Motor Rotation, 11-19, 11-26,
12-20
R
Read Coil Status, 15-32
Read Holding Registers, 15-34
Index-3
Index
Read Input Registers, 15-35
Read Input Status, 15-33
Reading Data from the Memory Pack, 4-5
Registration Move Distance, 11-25, 12-21
Reverse Overtravel, 11-17
RS-232C Communications Parameters,
12-16
Run bit, 14-4
S
Safety measures, 2-12
Saving and Storing Data from the Main
Setup Window, 12-12
Saving Parameters to a MicroMotion
Module, 12-13
Screws, 2-15
Sequence Table, 7-4, 12-30
Serial Communications Parameters, 12-15
Setup Tool, 1-10, 12-3
Speed Control for a Profile, 7-8
Speed Range, 1-4
Standalone Operation, 1-8
Standby Bit, 7-18, 7-20, 8-20, 8-22
Start or Stop the Module, 15-9
Status Data Formats, 14-32
Storing Data to Backup Memory, 14-5, 157
Suppression, 2-12
System Errors, 16-2
System Wiring Guidelines, 2-11
V
Velocity, 12-28
Velocity Auto Correct, 11-15, 12-20
Velocity Limit, 11-20, 12-20
Velocity Override Ratio, 9-5
Verify Axis Position, 12-33
W
Window Band, CCW, 11-30
Window Band, CW, 11-29
Window Deceleration Rate, 11-30
Window Interval, 11-29
Windowing, 9-2
Windowing for a Rotary Axis, 9-15
Windowing Operation in Auto Mode, 9-17
Windowing Operation in Manual Mode, 9-2
Wiring Connections, 2-14
Wiring to a Servo Amplifier, 2-20
Write Protect Switch on the Memory Pack,
4-2
Writing Data to a Memory Pack Module,
12-14
Writing Operation Data to a MicroMotion
Module, 14-5, 15-7
Z
Z input, 5-8
T
Target Position, 12-28
Terminal Assembly
removable, 2-15
Terminal Assignments, 2-18
U
Upper Position Limit, 11-24, 11-27, 12-20
User Units, 11-9, 11-13, 12-20, 14-22
User Units per Motor Rotation, 11-19, 1126, 12-20
Index-4
VersaMax® Micro PLC MicroMotion Modules– December, 2008
GFK-2471A