1 Programmable Function AC Servo AD series Jul.2004.

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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

Print

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


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)


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


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


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I/O Functions I/O Functions


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


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


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5. Statements of Programmable Function5. Statements of Programmable FunctionSequential Functions (1) Sequential Functions (1)


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


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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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


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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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

1 Programmable Function AC Servo AD series Jul.2004.

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Transcript of 1 Programmable Function AC Servo AD series Jul.2004.