1 programmable function ac servo ad series jul.2004
TRANSCRIPT
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Programmable Function AC Servo AD series
Jul.2004Jul.2004
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- similar to Visual Basic- similar to Visual Basic
1. Features1. Features
Easy to UseEasy to Use
- Stand-alone operation up to 512 steps- Stand-alone operation up to 512 stepsHigh cost performanceHigh cost performance
Best solution for Simple ApplicationsBest solution for Simple Applications
Small, Save wiringSmall, Save wiring- Option Unit NOT needed- Option Unit NOT needed
- Build-in I/O- Build-in I/O
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(1) Setup Software AHF-P02 for Windows(1) Setup Software AHF-P02 for Windows
2. Development System2. Development System- Edit- Edit- Compile- Compile- Online Trace- Online Trace
- Save (in EEPROM)- Save (in EEPROM)- Execute- Execute
(2) Windows 95/98/XP PC(2) Windows 95/98/XP PC with at least one RS-232C portwith at least one RS-232C port
(4) Servo Driver ADA(4) Servo Driver ADAXX3 series3 series
(3) PC cable(3) PC cableEH-PROG20-cable EH-PROG20-cable
- Save & Load- Save & Load- Print- Print
FunctionsFunctions
with Programmable function
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3. Application System3. Application System- 12 digital inputs- 12 digital inputs- 8 digital outputs- 8 digital outputs- 2 analog inputs- 2 analog inputs- 1 external encoder input- 1 external encoder input- 1 RS-232C port- 1 RS-232C port
- Jump- Jump- Loop- Loop- Wait- Wait- Sub routine call- Sub routine call- Internal variable- Internal variable- Calculation- Calculation
- Position control- Position control- Speed control- Speed control- Torque control- Torque control- Synchronization control- Synchronization control- Homing- Homing
I/O FunctionsI/O Functions
Motion FunctionsMotion Functions
Sequential FunctionsSequential Functions
Servo Driver Servo Driver controls itself !controls itself !
Simple ApplicationSimple Application without PLC without PLC
And, More Safety with PLCAnd, More Safety with PLC
ONLY;ONLY;
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4. Setup Software AHF-P024. Setup Software AHF-P02Code WindowCode Window
Data WindowData Window
Teaching function
Default values
Program
Tool BarTool Bar
File
EditDown load to Drive
Debug
Up load from DriveCompile & Down load
Compile
Status
Code Tab ON/OFF
Code Tab
Erase EEPROM
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5. Statements of Programmable Function5. Statements of Programmable FunctionMotion Functions (1) Motion Functions (1)
Mnemonic Short Description Ref. Page
mov Positioning with trapezoidal speed profile 6-29
nchg change speed at pre-defined position 6-40
smov Positioning after speed controlled motion 6-45
sync 1, 2 Synchronize to external encoder 6-50
hp Return to home 6-25
stop Stop motion, Cancel synchronization 6-49
Position Control Position Control - Standard control mode- Standard control mode
Mnemonic Short Description Ref. Page
ort Detect home with external switch 6-42
hpset Set home on current position 6-27
Homing Homing - Re-define home for position control- Re-define home for position control
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Motion Functions (2) Motion Functions (2)
Mnemonic Short Description Ref. Page
speed Speed controlled operation 6-47
nchg Change speed at pre-defined position 6-40
sync s Synchronize to analog input 6-50
stop Stop motion, Return to Position Control 6-49
Speed Control Speed Control - for unlimited traveling- for unlimited traveling
Mnemonic Short Description Ref. Page
trq Torque controlled operation 6-54
tchg Change torque at pre-defined position 6-52
stop Stop control, Return to Position Control 6-49
Torque Control Torque Control - for special application- for special application
5. Statements of Programmable Function5. Statements of Programmable Function
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ort, hpset
Motion Functions (3) Motion Functions (3) Power up
END
Initialize I/O
mov, nchgsync, hp
stop
Program Start (SON = ON)
end
Emergency Stop by SON = OFFEmergency Stop by SON = OFF
PositionPositionControlControl
trqtchg
speednchg
HomingHoming
stopstop
trqSpeed ControlSpeed Control
speedTorque ControlTorque Control
smov
trqspeed
5. Statements of Programmable Function5. Statements of Programmable Function
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I/O Functions I/O Functions
Mnemonic Short Description Ref. Page
open com Declare use of port 6-64
print # Send data to port 6-65
input # Read data from port 6-67
LOC Unread received data flag 6-69
Mnemonic Short Description Ref. Page
chg Allocate function on general I/O 6-62
X( ), Xw Read digital inputs 6-56
Y( ), Yw Write digital outputs 6-57
XA( ) Read analog inputs 6-60
sync 1,2,s Synchronize to external encoder or analog input 6-50
I/O Connector I/O Connector - for connection with other devices- for connection with other devices
PC Connector PC Connector - for RS-232C communication- for RS-232C communication
5. Statements of Programmable Function5. Statements of Programmable Function
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5. Statements of Programmable Function5. Statements of Programmable FunctionSequential Functions (1) Sequential Functions (1)
Mnemonic Short Description Ref. Page
entry/end Beginning-End of main program 6-10sub/sub end Beginning-End of subroutine 6-10call Branch to subroutine 6-11go to Unconditional Branch 6-14If then Conditional Branch 6-15select case Multiple conditional Branch 6-20Ifs then else Change process by condition 6-16for loop Loop by counter 6-12until loop Conditional loop (post-checkout) 6-22while loop Conditional loop (pre-checkout) 6-24wait Wait by timer, Wait by condition 6-23
Program ControlProgram Control
Mnemonic Short Description Ref. Page
load Read value from EEPROM 6-18save Write value to EEPROM 6-19cont Resume program when SON = OFF / ON 6-11
Special Program ControlSpecial Program Control
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5. Statements of Programmable Function5. Statements of Programmable FunctionSequential Functions (2) Sequential Functions (2)
Name Short Description Ref. Page
P(00)-P(99) Position Command variables 6-89N(00)-N(15) Speed Command variables 6-85T(00)-T(15) Torque command variable 6-97ACC(0),(1) Acceleration time 6-70DEC(0),(1) Deceleration time -U(00)-U(15) User variables 6-102
Variables Variables - for Motion function- for Motion function
Name Short Description Ref. Page
MODE Control mode 6-84HPOS Home position 6-74NFB Actual speed 6-86NRF Speed command 6-88IFB Current feedback (d-02) 6-75IRF Torque current instruction (d-03) 6-77TRF Torque command 6-101TFB Torque output 6-98INP Positioning completion 6-76SZD Zero speed detection 6-96ERR(0)-ERR(3) Trip factor code (d-11, 12) 6-73
Variables Variables - only for monitor- only for monitor
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5. Statements of Programmable Function5. Statements of Programmable FunctionSequential Functions (3) Sequential Functions (3)
Name Short Description Ref. Page
PBIAS Position command bias for sync operation 6-91PFILT Position command filter (Fd-36) 6-92KPF Position control feed forward gain (Fd-10) 6-81POS Current position (d-08) 6-93KP Position control response frequency (Fd-09) 6-80SCV S-shaped curve ratio (Fb-30) 6-94SFILT Speed command filter (Fd-20) 6-95ACCEL Setup variable of acceleration time (Fb-04) 6-71DECEL Setup variable of deceleration time (Fb-05) 6-72NLM(0)-NLM(1) Speed limit variables (Fb-21, 22) 6-87J Inertia moment (Fd-00) 6-78KFC Speed response frequency (Fd-01) 6-79KSP Speed control proportional gain (Fd-02) 6-83KSI Speed control integral gain (Fd-03) 6-82TFILT Torque command filter (Fd-06) 6-99TLM(0)-TLM(3) Torque limit variable (Fd-07, 08, 09, 10) 6-100
Variables Variables - for adjust control system- for adjust control system
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5. Statements of Programmable Function5. Statements of Programmable FunctionSequential Functions (4) Sequential Functions (4) OperatorsOperators
Format Operation outline
<Variable 1> = <Variable 2> + <Variable 3><Variable 1> = <Variable 2> <Variable 3><Variable 1> = <Variable 2> * <Variable 3><Variable 1> = <Variable 2> / <Variable 3><Variable 1> = <Variable 2><Variable 1> = <Variable 2> mod <Variable 3><Variable 1> = <Variable 2> or <Variable 3><Variable 1> = <Variable 2> and <Variable 3><Variable 1> = <Variable 2> xor <Variable 3><Variable 1> = not <Variable 2><Variable 1> = abs <Variable 2>
AdditionSubtractionMultiplicationDivisionAssignmentModulusOR logical infix operationAND logical infix operationXOR logical infix operationNOT unary operationAbsolute value operation
Format Operation outline
<Variable 1> = <Variable 2><Variable 1> < <Variable 2><Variable 1> < = <Variable 2><Variable 1> > <Variable 2><Variable 1> > = <Variable 2><Variable 1> < > <Variable 2>
True when the variables are equal.True when variable 1 is smaller than variable 2.True when variable 1 is smaller than or equal to variable 2.True when variable 1 is greater than variable 2.True when variable 1 is greater than or equal to variable 2.True when the variables are not equal.
ConditionsConditions
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- Read input & Change motion- Read input & Change motion
6. Remarks6. Remarks
More FlexibilityMore Flexibility
Best solution for Simple ApplicationsBest solution for Simple Applications
- Calculate commands by itself- Calculate commands by itself
Simple HMISimple HMIAuto gain selectionAuto gain selection
FeederFeederSimple IndexerSimple Indexer
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7. Sample program (1)7. Sample program (1)
- Detect Limit Switch as Home Position
- Wait X(00)=1, then positioning at P(01)
- Wait X(00)=0, then positioning at P(00)
- Wait X(00)=1…(same)
Servo Drive
P24
SON
RS
ORG
X(00)
PLC
CM1
U
V
W
ENC
ORL
Servo Motor
Encoder
Limit Switch
(Home position)
Ball screw
HPOSP(00)P(01)ConnectionConnection
Case DescriptionCase Description
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7. Sample program (1)7. Sample program (1)Line Label Mnemonic Parm1 Parm2 Parm3 Parm4 Parm5 Parm6001 entry002 ort 1 N(00) ACC(0) DEC(0)003 LOOP wait X(00) = 1004 mov P(01) N(00) ACC(0) DEC(0)005 wait X(00) = 0006 mov P(00) N(01) ACC(0) DEC(0)007 goto LOOP008 end009
Code WindowCode Window
Timing DiagramTiming Diagram
SON
ORL
X(00)
SpeedN(00) N(01)
P(01)
P(00)
ACC(00) DEC(00) Servo Lock
002 003 004 005 006 007-003Line
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7. Sample program (2)7. Sample program (2)
- Read Value from Rotary Switch when X(04)=1
- Send Value to PC
- Wait X(04)=0
- Read …(same)
ConnectionConnection
Case DescriptionCase Description
Servo Drive
P24
SON
RS
ORG
X(04)
PLC
CM1
X(00)
X(01)
X(02)
X(03)
CNPC
PC
Rotary Switch
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7. Sample program (2)7. Sample program (2)Line Label Mnemonic Parm1 Parm2 Parm3 Parm4 Parm5 Parm6001 entry002 open com003 LOOP wait X(04) = 1004 U(00) = Xw and 15005 Print #2 U(00)006 wait X(04) = 0007 goto LOOP008 end009
Code WindowCode Window
TX DataTX Data
BCC
HEX value of {X(03)=0, X(02)=0, X(01)=0, X(00)=1}
Masked by “Xw and 15(=0000 000Fh)”
Command of Print #2(=82h)
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7. Application Notes (1)7. Application Notes (1)
Servo-motor M1Gear
Inverter
Rotary saw feed motor M2
Work
Positioning by servo-motor Rotary s
aw
Motor for rotary razor M3
Servo-driver
10 keys x2
Holder of stopper
Inverter
HostPLC
Speed setting
10 key panels
RS232C
Servo-motor
Limit SW
Rotary saw feedRotary saw
Solenoid for holding stopper
M2
M3
X
RX
EC
M1ADAX
CNPC
YX
Timing chart
Limit SW
Forward
ON
ONOFF
OFF
Positioning complete
M1
RX
M3
M2Reverse
Wood Working MachineWood Working Machine
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7. Application Notes (2)7. Application Notes (2)Grass Manufacturing MachineGrass Manufacturing Machine
Melted glass material
Forming glasses
Feed conveyAdjust the pitch between the front and the rear
M1 Vector controlled motor
M2Servo-motor
Speed Torque M1
TorquePosition
AO
CU
DO
CU
ENC
ENC
Vector control inverterJ500
Analogue output
Counter module
Output module
UP
DOWNFINE
Master axis
Slave axis
Servo-motor
Vector controlled motor
Servo-driver with Programmable functionADAX
PLC
M2
Counter module
Speed
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8. Enhance Plan 8. Enhance Plan Preliminary
Feb.2004