Académique Documents
Professionnel Documents
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VersaMax
Micro PLC
MicroMotion Modules, GFK-2471A
December, 2008
GFL-002
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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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
GFK-2471A
iii
Contents
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
Chapter 4
Chapter 5
GFK-2471A
Contents
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
Chapter 7
GFK-2471A
Contents
Contents
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
vi
GFK-2471A
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
GFK-2471A
Contents
vii
Contents
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
viii
GFK-2471A
Contents
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
Chapter 13
GFK-2471A
Contents
ix
Contents
Open the MicroMotion Setup Tool .................................................................................. 13-4
Using the MicroMotion Setup Tool with Version AA MicroMotion Modules ......... 13-4
Chapter 14
Chapter 15
GFK-2471A
Contents
Chapter 16
Appendix A
GFK-2471A
Contents
xi
Contents
xii
GFK-2471A
Chapter
Introduction
1
This manual describes the specifications, installation, and operation of the VersaMax
Micro PLCs 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 Users 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
1-1
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.
1-2
GFK-2471A
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:
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
Expansion
Connector
Expansion
Connector
GFK-2471A
Chapter 1 Introduction
1-3
Homing function: Free homing, low-speed homing, high-speed homing (Off Edge
and Marker Stop)
1-4
Flash Memory
GFK-2471A
Specifications
General Specifications
Item
Specifications
GFK-2471A
AC
DC
Power voltage
24VDC
Power voltage
fluctuation range
19.2 to 30V DC
Allowable momentary
power failure
Operating ambient
temperature
Operating ambient
humidity
Vibration resistance
Noise resistance
- Noise voltage 1500 Vpp Noise pulse 100 ns, 1 micro sec
- Static noise: 3000 V at metal exposed area
Insulation resistance
Dielectric withstand
voltage
Grounding
Environment used
Structure
Cooling
Anti-electric shock
protection
I type device
Open device
Chapter 1 Introduction
1-5
1
Functional Specifications
Item
Specifications
Number of axes
Maximum speed
Positioning
system
Move type
Linear, rotatary
Dwell time
0 to 32,768 ms (1 ms units)
Acc/Dec rate
Backlash revision
Range
256 (non-volatility)
Setting method
Operation mode
Homing function
Auto operation
I/O assignment
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
GFK-2471A
I/O Specifications
Item
Pulse output
Specifications
Pulse signal (CW/CCW)
Line driver
0.4 V or less
2.4 V or more
0.4 V or less
Input voltage
20.4 to 28.8 V DC
Input impedance
Approx. 5.6 k
GFK-2471A
2.4 V or more
Operating voltage
Minimum ON voltage
15 V
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
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 modules 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
Host Computer
1-8
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 modules 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
1-10
GFK-2471A
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.
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.
GFK-2471A
Chapter 1 Introduction
1-11
Inputs for
Axis A
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.
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.
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
Comments
UL508,
CSA C22.2 No 142-M1987
UL1604
CSA C22.2 No 142-M1987
CE Mark
All models
Environmental
Conditions
Vibration
IEC68-2-6, JISC0911
Shock
IEC68-2-27, JISC0912
15G, 11ms
Operating Temperature
Storage Temperature
10deg C to +75deg C
Humidity
5% to 95%, non-condensing
IEC529
UL508, UL840,
IEC664
Enclosure Protection
Isolation: Dielectric Withstand
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
Conducted Emissions
EN 55011*
EN 55011*
* EN 55011 limits are equivalent to limits specified in EN 55022, CISPR 11, CISPR 22, and 47 CFR 15.
2-2
GFK-2471A
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.
GFK-2471A
Warning - explosion hazard do not replace modules 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
Wiring duct
2-4
The module should not be installed above equipment that generates a large
amount of heat.
If the ambient temperature exceeds 55C, 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.
GFK-2471A
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.
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
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.
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 modules 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).
Chapter 2 Installation
2-7
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.
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
GFK-2471A
Description
Communication Speed
ON
OFF
OFF
OFF
GFK-2471A
Firmware Update
ON
OFF
2-9
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
modules 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
GFK-2471A
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.
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
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.
Power
to
Modules
Short Length of
Communications
Bus Cable
2-12
GFK-2471A
GFK-2471A
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.
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.
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.
Chapter 2 Installation
2-13
Wiring Connections
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:
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
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
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 (100 or less). The length of ground
cable should not exceed 20m (65.62ft.).
Warning
The MicroMotion Module must be grounded to minimize
electrical shock hazard. Failure to do so could result in
injury to personnel.
100V AC
240V AC
Fuses
Noise filter
Isolation
transformer with
shield
2-16
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
Terminal Assignments
NC
24V
NC
0V
POW
POW
FG
2424+
N
L
NC
NC
NC
NC
FO2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
IC200UMM002
IC200UMM102
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
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
COIN1
COIN2
FO1
FO2
RO1
RO2
JF1
JF2
JR1
JR2
FE1
FE2
DR1
DR2
ES1
ES2
COM1
COM2
Common
Common
MA1A
MA2A
Input
MA1B
MA2B
GFK-2471A
Chapter 2 Installation
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
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 modules
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 modules
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
ESTOP
GFK-2471A
Chapter 2 Installation
2-21
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.
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
ST1
ST2
S
2-22
GFK-2471A
LED
Color
Description
POW
Status
OK
ST1
ST2
RUN
STB
MAN
JF /
JR
CME
Red
ORE
Red
ES
Red
DR
Red
GFK-2471A
Chapter 2 Installation
2-23
2-24
GFK-2471A
Chapter
3
This chapter describes use of VersaMax Micro PLC port option modules with a
MicroMotion Module:
Communications Setup
GFK-2471A
3-1
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.
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
GFK-2471A
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
3-3
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
GFK-2471A
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
3-5
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.
Activity (Green)
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
3-6
Processor Speed
Memory
Connection Type
RJ 45 10Base-T/100Base-TX Ethernet
Entity Type
Server
Bus Speed
10/100Mbaud
Mode
Full Duplex
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.
The IP address setting must be saved to the Flash on the Ethernet board or it will
be lost during power cycle.
GFK-2471A
3-7
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
Port
Connector
GFK-2471A
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.
EVEN parity
1 Stop bit.
Device Number 1
Switch 1
Off for Default
Communications
Parameters
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
3-9
3
Communications Parameters: Setup Tool
To set up or check the communications parameters using the Setup
Tool:
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.
3-10
GFK-2471A
15
14
13
12
11
10
HS
RES
CH1
CH2
BNK RUN
Word 2
Command Number: 9F
Word 3
Communications Speed
Transmission Format
Word 4
Device Number
Word 5
Not used
Word 6
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
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Word 3
Word 4
Word 5
Word 6
GFK-2471A
HS
Word 7
Device Number
Word 8
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
Holding Registers
4
5
Input Registers
3
4
5
3-12
GFK-2471A
Chapter
4
This chapter describes use of VersaMax Micro PLC Memory Pack modules with a
MicroMotion Module:
GFK-2471A
4-1
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.
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
GFK-2471A
Memory Protect
Switch 3 Off (down)
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
4-3
Connector for
Memory Pack
Module
4-4
GFK-2471A
Operation data
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
4-5
Write Protect
OFF
Write Enable
4-6
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.
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
4-7
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
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
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
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
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
4-9
4-10
GFK-2471A
Chapter
Homing Mode
5
This chapter describes Homing Mode operations of the MicroMotion Module.
Homing Operations
Free Homing
Low-speed Homing
GFK-2471A
5-1
Free Homing.
Low-speed Homing.
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.)
GFK-2471A
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
5-3
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.
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
GFK-2471A
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
5-5
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
CW speed
CW
Start
position
50pps*
Deceleration
Rate
CCW
Find Home Velocity [low]
Acceleration rate
Find Home Velocity [high]
5-6
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
5 pulses
Find Home Velocity [high]
5-7
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
Start position
50pps
CCW
Find Home Velocity [low]
Acceleration Rate
Deceleration
Rate
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
50pps
Start
ii
CCW
5 pulses
Deceleration Rate
Acceleration Rate
Find Home Velocity [high]
5-9
CW
CW speed
CCW speed
Reverse the
move direction
without error
LS
+ Overrun occurs
5-10
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
HSR
Disable
Disable
t
V
Homing
FE
Disable
GFK-2471A
5-11
During operation, the Input Signal display shows whether the Home Position Limit (HL)
switch input is On:
5-12
GFK-2471A
Set Up Read
61
B1
62
B2
63
B3
68
69
6A
6B
76
77
B8
B9
BA
BB
C6
C7
Operation
11
12
13
14
15
16
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)
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
221
310
311
312
313
314
315
316
11
5-14
26
GFK-2471A
Manual Mode
Chapter
6
This chapter describes Manual Mode operation of the MicroMotion Module.
GFK-2471A
Operation by Command
6-1
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
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 axiss 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.
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 followers motions. See chapter 8 for
information about Follower operation.
GFK-2471A
Operation by Command
By default, an axiss 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.
Normal Stop
CCW speed
Jog CCW
CW
CW speed
Stop position
CCW
Jog CW by Command
Command
Normal Stop
Jog CW
CCW speed
Stop
position
CCW
CW speed
CW
GFK-2471A
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
CCW
CW speed
CW
Inching CCW
Inching CCW
CCW speed
Command
CCW
CW speed
CW
6-4
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 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
6-5
6-6
1.
the axis is operating (the Run input for that axis is On).
2.
3.
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
GFK-2471A
6-7
6
Jog Reverse by JR Input
OFF
CCW speed
JR
Stop
position
CCW
CW speed
CW
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
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]
OFF
ON
Homing
Pulse
output
[t]
Homing can be performed
because pulse is not output.
GFK-2471A
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
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
GFK-2471A
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
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
GFK-2471A
At decelerated stop
(HSR input is invalid.)
ERR
ERR
6-11
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
GFK-2471A
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
6E
BE
6F
BF
70
C0
24
40
41
42
43
GFK-2471A
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
221
293
360
370
361
371
362
372
363
373
6-14
26
GFK-2471A
Chapter
7
This chapter describes the automatic operating modes of the MicroMotion Module.
GFK-2471A
Sequence Tables
7-1
[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
7-2
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 followers motions. See chapter 8 for
information about Follower operation.
GFK-2471A
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.
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, ms, 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
7-3
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
Profile n
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
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
Profile n
GFK-2471A
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.
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
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:
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.
For a rotary axis performing absolute positioning, whether the positioning will be in
a specified direction or in the shortest direction.
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
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
CCW
CW
M
CW speed
Distance H
Speed: A A x FE(%) A B C D
7-8
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.
Target Position
1
2
3
800
600
-200
600
-200
0
800
1400
120
-200
0
800
200
GFK-2471A
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
(A)
(B)
(A)
315
45
270
(B)
180
Forward direction
7-10
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
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 profiles 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
Profile 2
Profile 3
Deceleration
of Profile 1
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
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.
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
7-12
GFK-2471A
7
Adjusting for Short Moves in Continuous Operation
If the move distance specified by a profiles 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.
GFK-2471A
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
Acceleration
S-Curve
Deceleration
Deceleration
Linear
Acceleration
Acceleration
Linear
Deceleration
Deceleration
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
GFK-2471A
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
2 3
3 4
4 Dwell
10 Dwell
Invalid
Invalid
JF
[V]
Profile 1
10
20
Speed control
21
Position control
[t]
Dwell
Pulse
output
Profile 1
GFK-2471A
[t]
7-15
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
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
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.
HS
14
13
12
11
10
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
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
52
53
54
30
31
32
33
34
35
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.
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
211
224
225
GFK-2471A
7
Axis A
Axis B
226
227
Description
256
257
340
344
341
345
342
346
343
347
520
522
521
523
10
GFK-2471A
26
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
Number of
Sequence Table
items
7-22
Dwell (50ms)
7 to 0
Value
(hex)
(0 4 hex)
0004
(0 1 hex)
0001
50
(3 2 hex)
8032
(0 2 hex)
1402
(0 1 hex)
4401
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
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)
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.
Always 1
Dwell Time: 0 to 32768ms
GFK-2471A
7-23
7-24
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
GFK-2471A
8-1
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.
JR A
OFF
[V]
A-axis
Master
200ms
[V]
[t]
Follower ratio
B-axis
Follower
200ms
8-2
[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
8-3
Idle
Follower
Homing
command
Homing
complete
Homing
8-4
GFK-2471A
Master axis
200ms
t
RUN
Follower axis
STB
GFK-2471A
ON
ON
t
RUN
STB
ON
ON
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
ON
ON
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
GFK-2471A
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.
When entering values for Gear Ratio using the Setup Tool, or from the PLC CPU or
host controller:
GFK-2471A
8-7
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.
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.
8-8
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:
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
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
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
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 )
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.
GFK-2471A
8-11
Master axis
Master axis
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
Master axis
Master axis
Follower axis
(Gear ratio 1/4)
Follower axis
[t]
[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
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 14s after the master axis. For a Normal stop, the module begins stopping the
follower axis 31s after the master axis.
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
Master
Master axis
Follower axis
Follower axis
[t]
2
40 pps
61 pps
[t]
61 pps
START
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
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
Follower
[t]
Velocity
change
[t]
8-14
GFK-2471A
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
[t]
B-axis
B-axis COIN
GFK-2471A
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
8-16
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
CCW
Invalid
CW
CCW
FE_B
GFK-2471A
8-17
8
High-Speed Registration Input
The High-speed Registration (HSR) input of the master axis is effective during Follower
operation.
The followers HSR input has no effect on its operation.
Follower
source
CW
CCW
Invalid
CW
CCW
HSR_B
A-axis
[V]
[t]
JF 2
B-axis
[V]
8-18
[t]
GFK-2471A
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
8-19
HS
14
13
12
11
10
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
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
C3
22
A3
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
BNK RUN
Word 2
Word 3
Word 4
Word 5
Command Number
Word 6
Not used
Word 7
Word 8
GFK-2471A
8-21
Axis A
Axis B
Description
232
233
221
10
11
26
GFK-2471A
Chapter
Windowing
9
This chapter describes the Windowing feature of MicroMotion Modules
IC200UMM002/102-BB or later.
Overview of Windowing
Interval Auto-Adjustment
GFK-2471A
9-1
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 Modules 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
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
GFK-2471A
Parameters of Windowing
Windowing is set up using the five Common Parameters described in this section:
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.
CCW
Band
CW
Band
CCW
Band
Velocity
CW
Band
W indow
Position
Interval
Interval
9-4
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
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 500s intervals to determine whether or
not the axis is in the window area, the start of deceleration or acceleration may be
delayed up to 500s.
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 500s 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 500s 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]
[t]
9-6
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]
Constant
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
CCW width
V
Velocity Override
Ratio
CW
CCW
Interval
Window area
WND bit
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
CCW width
Velocity Override
Ratio
CW
Interval
CCW
Window area
WND bit
9-8
GFK-2471A
Position
Registration move distance
Velocity
GFK-2471A
Auto-tuning
Chapter 9 Windowing
Position
9-9
Velocity
Position
Auto-tuning
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
Position
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
9-10
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 62s, as represented in
the illustration below.
HSR
Interrupt
Module
Windowing
range appraisal
20s
Delay by H/W
2s
Velocity
GFK-2471A
Chapter 9 Windowing
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
Position
9-12
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
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
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.
GFK-2471A
Chapter 9 Windowing
9-13
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).
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.
9-14
Next Window start position = HSR triggered position + Corrected interval-CW Band
area (for forward motion)
GFK-2471A
285
240
HSR ON
195
180
Interval (360)
[V]
Roll over
0
GFK-2471A
240
Chapter 9 Windowing
Roll over
240
240
[Position]
9-15
[t]
WND bit
Window area
Jog
[t]
WND bit
t
WND bit
Does not turn Off if the axis stops
9-16
GFK-2471A
[t]
WND bit
1 time
nd
time
Window area
[t]
WND bit
GFK-2471A
Chapter 9 Windowing
9-17
Disable
Enable
Follower
Disable
Error : H60
Status
time
Disable
Enable
Follower
Status
Disable
Error: H68 (Warning)
time
9-18
GFK-2471A
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 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
40%
50%
70%
40%
Window Area
GFK-2471A
Chapter 9 Windowing
Window Area
9-19
9-20
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
GFK-2471A
Chapter 9 Windowing
9-21
Set Up Read
Operation
63
B3
7E
CE
7F
80
CF
D0
81
82
D1
D2
9E
Set Up Read
27
Windowing Enable
28
Windowing Cancel
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.
9-22
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
160-161
260-261
162-163
262-263
164
264
165-166
265-266
Bit 0
221
501
501
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
9-24
GFK-2471A
Chapter
External Inputs
10
This chapter describes the effects of external input signals on the operation of a
MicroMotion module.
Marker Input
Overtravel Inputs
GFK-2471A
10-1
10
NC
NC
NC
NC
RO1
FO1
JF1
FE1
DR1
JR1
COM1 MA1B
ES1
MA1A
Axis 1 Inputs
Axis 2 Inputs
POW
POW
FG
NC
Signal
10-2
FO2
FE2
RO2
JR2
JF2
ES2
DR2
MA2A
NC
COM2 MA2B
Name
Marker Input
HSR
COIN
Positioning Complete
HL
FO
Forward Overtravel
RO
Reverse Overtravel
FE
Feedrate Override
JF
Jog Forward
JR
Jog Reverse
DR
ES
Emergency Stop
GFK-2471A
10
POW
POW
NC
NC
NC
FG
NC
NC
NC
FO2
RO1
FO1
FE2
RO2
JF1
FE1
DR1
JR1
JR2
JF2
ES2
DR2
COM1 MA1B
ES1
MA1A
MA2A
NC
COM2 MA2B
ON
OFF
CCW speed
Marker input
CW speed
CW
5 pulses
Home
position
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
10-3
10
NC
NC
POW
POW
NC
NC
NC
FG
FO2
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.
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
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
3
3
10
[t]
Dwell 10
Windowing
range appraisal
20s
Delay by H/W
40s
2s
Velocity
GFK-2471A
10-5
10
NC
NC
POW
POW
NC
NC
NC
FG
FO2
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
[t]
B-axis
B-axis COIN
GFK-2471A
10
POW
POW
NC
NC
NC
FG
NC
NC
FO2
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
10-7
10
POW
POW
NC
NC
NC
FG
NC
NC
FO2
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.
CCW
FO
CW
CCW
CW
+ Overtravel cancellation
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
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.
- Overtravel cancellation
CCW
RO
CW
CW
GFK-2471A
10-9
10
NC
NC
POW
POW
FG
NC
NC
NC
FO2
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.
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.
10-10
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
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
[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
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
GFK-2471A
10
POW
POW
NC
NC
NC
NC
NC
FG
FO2
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.
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
GFK-2471A
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.
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
GFK-2471A
10
JF, JR Invalid
[t]
Disable
23
34
4Dwell
10Dwell
Invalid
Invalid
JF
[V]
Profile 1
Speed control
10
20
21
[t]
Position control
Chapter 7 provides a detailed description of using the Jog Forward input in Auto mode.
A-axis
[V]
[t]
JF 2
B-axis
[V]
GFK-2471A
[t]
10-15
10
NC
NC
POW
POW
FG
NC
NC
NC
RO1
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
GFK-2471A
10
NC
NC
POW
POW
FG
NC
NC
NC
FO2
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]
GFK-2471A
10-17
10
During operation, the Input Signal display shows the status of the External Inputs:
JR
10-18
GFK-2471A
10
Set Up Read
Operation
Bit 0
63
B3
72
C2
10
11
12
GFK-2471A
Status
Idle
Manual operation (stopped) [External input mode]
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
102
202
131
142-143
231
242-243
220
221
293
17
18
19
20
21
22
23
24
249
293
11
10-20
26
GFK-2471A
Chapter
11
This chapter describes the Common Parameters of a MicroMotion module.
GFK-2471A
11-1
11
Data
Word
VersaMax
Holding Register /
Micro PLC CPU
Input Register
Write
Read
Axis A
Axis B
200
61
B1
100
62
B2
101
201
63
B3
102
202
64
B4
103
203
104
204
105
205
65
B5
106
206
107
207
11-2
Common
Parameter
Number
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
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
19
20
21
22
23
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
28
52
7D
CD
53
152
252
54
153
253
GFK-2471A
11-3
11
Description
Common
Parameter
Number
11-4
Write
Axis A
Axis B
154
254
Read
155
255
57
156
256
58
157
257
56
29
30
31
VersaMax
Holding Register /
Micro PLC CPU
Input Register
55
Data
Word
7C
59
60
61
CC
7E
CE
7F
CF
62
63
32
80
34
65
66
67
81
82
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
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-m units
0 1 1 = 0.00001-inch units
GFK-2471A
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
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)
Clock (CW)
Direction signal (CCW)
Clock (CW)
Direction
signal
clock output
CW / CCW
pulse
output
CCW
CCW
CW
CCW
CW
11-6
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.
A/3
A/3
A/3
Acceleration time A
B/3
B/3
B/3
Deceleration time B
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
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
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
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.
11-8
GFK-2471A
11
The following parameters are influenced by the Parameter Type setting:
Common Parameters
Acceleration rate
Deceleration rate
Speed
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
Free Form
inch
degree
11-9
11
Common Parameter Word 2: Setup Bits for Input Feedback
15 14 13 12 11 10
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)
11-10
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
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
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
GFK-2471A
11
Final Home Velocity for High-Speed Homing (Common Parameter 2, bits 8 6):
b8
b7
b6
50 pps
100 pps
200 pps
400 pps
800 pps
1600 pps
3200 pps
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
Free Form
inch
degree
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
11-14
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
m [m/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
100,000m, 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
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]
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
500 ms
100 ms
250 ms
1000 ms
[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
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
3
3
10
[t]
Dwell 10
11-18
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
Valid range
+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 10000m.
GFK-2471A
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.
11-20
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.
GFK-2471A
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
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 distance
Travel distance
-Travel distance
Travel distance
-Travel distance
Travel distance
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.
GFK-2471A
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.
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.
GFK-2471A
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
Valid range
+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 10000m.
11-26
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
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
41
65
61
97
22
34
42
66
62
98
23
35
43
67
63
99
24
36
44
68
64
100
25
37
45
69
65
101
&
26
38
46
70
66
102
27
39
47
71
67
103
28
40
48
72
68
104
29
41
49
73
69
105
2A
42
4A
74
6A
106
2B
43
4B
75
6B
107
2C
44
4C
76
6C
108
2D
45
4D
77
6D
109
2E
46
4E
78
6E
110
2F
47
4F
79
6F
111
30
48
50
80
70
112
31
49
51
81
71
113
32
50
52
82
72
114
33
51
53
83
73
115
34
52
54
84
74
116
35
53
55
85
75
117
36
54
56
86
76
118
37
55
57
87
77
119
38
56
58
88
78
120
39
57
59
89
79
121
3A
58
5A
90
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
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
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.
+1.0 to +214,748,358.3
inch
+1.00000 to +21,474.83583
degree
+1.00000 to +21,474.83583
Pulse
1 to +2,147,483,647
Free-form
1 to +2,147,483,647
1 to +214,748,364.7 (0.1m)
inch
degree
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.
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.
+214,748,358.3 to -214,748,358.3
inch
+21,474.83583 to -21,474.83583
degree
+21,474.83583 to -21,474.83583
Pulse
+2,147,483,647 to -2,147,483,648
Free-form
+2,147,483,647 to -2,147,483,648
+214,748,364.7 to -214,748,364.8
inch
(0.1m)
+21,474.83647 to -21,474.83648
degree
11-30
GFK-2471A
11
Velocity Limit
Backlash Compensation
Home Position
Absolute
value
GFK-2471A
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.
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.
GFK-2471A
11
Changing Common Parameters when the User Units are
NOT Pulses
1.
2.
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
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.
11-33
11
5.
6.
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.
11-34
1.
2.
3.
4.
5.
6.
GFK-2471A
Chapter
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.
Motion Parameters
Input Parameters
Follower Parameter
GFK-2471A
12-1
12
12-2
GFK-2471A
12
GFK-2471A
12-3
12
The same functions are available from the taskbar buttons:
12-4
GFK-2471A
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.
Offline Mode
File
Device
Device
GFK-2471A
Online Mode
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.
For Axis A
For Axis B
The Axis A and Axis B monitoring areas appear when the Setup Tool is in Online
mode.
12-6
GFK-2471A
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 modules external inputs.
External Input
GFK-2471A
ON (1)
OFF (0)
Green
Colorless
Green
Colorless
Marker (Z)
Green
Colorless
Colorless
Red
Colorless
Red
Green
Colorless
Green
Colorless
Green
Colorless
Green
Colorless
Green
Colorless (axis is
outside area)
Colorless
Red
Colorless
Red
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 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.
Profile No. 15
Profile No. 79
Profile No. 3
Dwell
Profile No. 18
Sequence table
12-8
GFK-2471A
12
Control Motion Operations
When Monitor Module is enabled, additional control buttons become available for each
axis.
GFK-2471A
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.
12-10
GFK-2471A
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.
GFK-2471A
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.
To save parameters to a CSV file, select the filename and location for the file.
12-12
GFK-2471A
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 modules 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.
GFK-2471A
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
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.
12-14
GFK-2471A
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.
GFK-2471A
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:
Transmission Format can be: (always 8 bits) odd, none or even parity, 1 or 2
stop bits.
12-16
GFK-2471A
12
GFK-2471A
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.
12-18
GFK-2471A
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
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
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.
GFK-2471A
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.
12-20
GFK-2471A
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.
GFK-2471A
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.
12-22
GFK-2471A
12
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.
GFK-2471A
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.
12-24
GFK-2471A
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:
GFK-2471A
12-25
12
12-26
GFK-2471A
12
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
GFK-2471A
12-27
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.
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.
12-28
GFK-2471A
12
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
12-29
12
12-30
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
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 profiles 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:
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
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:
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
12-33
12
12-34
GFK-2471A
Chapter
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.
GFK-2471A
13-1
13
4. In the Module Catalog, click on the Motion tab. Select the IC200UMM002/102
module:
13-2
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 modules 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.
GFK-2471A
13-3
13
The MicroMotion setup tool is used to configure the motion parameters and to monitor
and control module operations. See chapter 12 for information.
13-4
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
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.
Commands
Sending Commands
GFK-2471A
Command List
Input Status Data Words 3 and 4: Windowing and Write Status Bits
14-1
14
Using the MicroMotion Setup and Monitoring tool that is integrated into the
Machine Edition software.
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
GFK-2471A
14
MicroMotion
Expansion Module
.
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 modules 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
14-3
14
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
BNK RUN
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 modules 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
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 modules 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.
Common parameters.
2.
Profile data, which defines specific individual profiles for use in Auto Mode.
3.
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.
GFK-2471A
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 List
Command
Number
(hex)
01
14-6
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
Not needed
02
Not needed
03
A / B / AB
10
A / B / AB
11
A / B / AB
12
A / B / AB
13
A / B / AB
14
A / B / AB
15
A / B / AB
16
A / B / AB
17
* Stop
A / B / AB
18
A / B / AB
19
A / B / AB
1A
A / B / AB
1B
A / B / AB
1C
A / B / AB
1D
* Change velocity
A / B / AB
2 per axis
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
1E
A / B / AB
2 per axis
1F
A / B / AB
2 per axis
A / B / AB
20
2 per axis
21
A or B
22
A or B
23
A / B / AB
24
A / B / AB
27
* ** Enable Windowing
A / B / AB
28
* ** Cancel Windowing
A / B / AB
30
A / B / AB
31
A or B
Sequence
table +1
32
A / B / AB
33
A or B
Sequence
table +1
34
A / B / AB
1 per axis
35
A / B / AB
1 per axis
40
A / B / AB
41
A / B / AB
42
A / B / AB
GFK-2471A
A / B / AB
14-7
14
Command List
Command
Number
(hex)
43
50
Command Description
Axis
Specification
0
65 per
axis
(required
length)
51
52
Not needed
53
54
Not needed
A / B / AB
60
61
A / B / AB
A / B / AB
1 per axis
3-5
10
1 per axis
0-2
3-5
6-8
9
14-8
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
Data
Words
12-13
14-15
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
63
Data
Words
Axis
Specification
A / B / AB
Written
1 per axis
8-9
10
Data Words
Read
11
12
64
15
Velocity Auto-Correct = 0, disable = 1
Set Pulses per Motor Rotation [output]
A / B / AB
2 per axis
65
A / B / AB
2 per axis
66
A / B / AB
2 per axis
67
A / B / AB
2 per axis
68
A / B / AB
2 per axis
69
A / B / AB
2 per axis
6A
A / B / AB
2 per axis
6B
A / B / AB
2 per axis
6C
A / B / AB
2 per axis
6D
A / B / AB
2 per axis
6E
A / B / AB
2 per axis
6F
A / B / AB
2 per axis
70
A / B / AB
2 per axis
2 per axis
1 per axis
71
A / B / AB
72
A / B / AB
73
A / B / AB
2 per axis
74
A / B / AB
2 per axis
75
A / B / AB
2 per axis
76
A / B / AB
2 per axis
77
A / B / AB
2 per axis
78
A / B / AB
2 per axis
A / B / AB
2 per axis
A / B / AB
2 per axis
79
7A
GFK-2471A
14-9
14
Command List
Command
Number
(hex)
14-10
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
7B
A / B / AB
7C
A / B / AB
2 per axis
4 per axis
7D
A / B / AB
4 per axis
7E
A / B / AB
2 per axis
7F
A / B / AB
2 per axis
80
A / B / AB
2 per axis
81
A / B / AB
1 per axis
82
A / B / AB
90
91
Not needed
2 per axis
9 per
profile
9 words
92
Not needed
3 words
93
Not needed
3 words
94
Not needed
3 words
95
Not needed
3 words
A or B
Sequence
table +1
A / B / AB
98
9E
Not needed
9F
Not needed
A0
A / B / AB
A1
A / B / AB
A2
A / B / AB
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
15-12
A3
Data
Words
Written
A / B / AB
Data Words
Read
Description
Type
Mode
(hex)
Axis
Specification
11
O.RU
N
10
Dwell
HSR
FE
JF
JR
WND
A4
Not needed
A5
Not needed
A6
Not needed
A7
Not needed
GFK-2471A
14-11
14
Command List
Command
Number
(hex)
14-12
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
A8
Not needed
A9
Not needed
AA
Not needed
1
2
AE
Not needed
AF
Not needed
B0
A / B / AB
65** per
axis
B1
A / B / AB
1 per axis
B2
A / B / AB
1 per axis
B3
A / B / AB
1 per axis
B4
A / B / AB
2 per axis
B5
A / B / AB
2 per axis
B6
A / B / AB
2 per axis
2 per axis
B8
A / B / AB
B9
A / B / AB
2 per axis
2 per axis
BA
A / B / AB
BB
A / B / AB
2 per axis
BC
A / B / AB
2 per axis
BD
A / B / AB
2 per axis
2 per axis
BE
A / B / AB
BF
A / B / AB
2 per axis
C0
A / B / AB
2 per axis
C1
A / B / AB
2 per axis
1 per axis
C2
A / B / AB
C3
A / B / AB
2 per axis
2 per axis
C4
A / B / AB
C5
A / B / AB
2 per axis
C6
A / B / AB
2 per axis
C7
A / B / AB
2 per axis
2 per axis
2 per axis
C8
A / B / AB
C9
A / B / AB
GFK-2471A
14
Command List
Command
Number
(hex)
Command Description
Axis
Specification
Data
Words
Written
Data Words
Read
CA
A / B / AB
CB
A / B / AB
2 per axis
CC
A / B / AB
4 per axis
CD
A / B / AB
CE
A / B / AB
4 per axis
2 per axis
CF
A / B / AB
2 per axis
D0
A / B / AB
2 per axis
D1
A / B / AB
1 per axis
D2
2 per axis
A / B / AB
Not needed
E0
9 per profile
E1
Not needed
A / B / AB
Sequence
table length
2 per axis
E8
F0
Not needed
F1
Not needed
F2
Not needed
F3
A / B / AB
F4
Not needed
F5
Not needed
F6
A / B / AB
F7
Not needed
F8
A / B / AB
GFK-2471A
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 modules
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).
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
HS
RES
CH1
CH2
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
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 modules
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 modules 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 modules 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 modules 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 modules Output Control References.]
GFK-2471A
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.
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 modules 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
HS
RES
CH1
CH2
BNK
RUN
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
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.
Word 1
Word 2
15
14
13
12
11
10
HS
RES
CH1
CH2
BNK RUN
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
14-18
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
BNK RUN
Command Number
Word 2
Word 3
Word 4
Word 5
Word 6
GFK-2471A
Word 7
Not used
Word 8
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
33
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
-
BNK RUN
Word 3
Word 4
Word 5
Word 6
Word 8
Word 2
Word 7
14-20
15
Not used
(Unused words hold their previous values)
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
modules 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
35
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
BNK RUN
Word 3
Word 4
Word 5
Word 7
Word 2
Word 6
Not used
(Words 6 to 8 hold their previous values)
Word 8
GFK-2471A
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
7D
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
-
BNK RUN
Word 3
Word 4
Word 5
Word 6
Word 8
Word 2
Word 7
14-22
15
Not used
(Words 6 to 8 hold their previous values)
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
-
BNK RUN
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
RES
CH1
CH2
BNK RUN
Word 2
Word 1
Scan 2
15
Command Number
Word 2
Word 3
Word 4
Word 5
Not used
Word 6
Word 7
Word 8
GFK-2471A
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.
HS
14
RES
13
12
CH1
CH2
11
-
10
-
BNK RUN
Word 3
Profile Number
Word 4
Word 5
Word 6
Word 7
Word 8
Word 1
Scan 2
Word 2
Scan 1
HS
RES
CH1
CH2
BNK RUN
Word 2
Velocity [upper]
Word 3
Word 4
Word 5
Not used
Word 6
Word 7
Word 8
14-24
GFK-2471A
14
Ladder Logic Example for Command 91
GFK-2471A
14-25
14
The rungs shown below supply the additional data for the profile and complete the
handshake cycle.
14-26
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
93
94
95
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
BNK RUN
Word 2
Word 3
Profile Number
Word 4
Word 5
Word 6
Not used
Word 7
Word 8
GFK-2471A
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.)
Word 1
15
14
13
12
11
10
HS
RES
CH1
CH2
Command Number
(9F)
Word 2
Word 3
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
14-28
GFK-2471A
14
15
Word 1
Word 2
HS
14
13
12
11
10
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
14-29
14
Input Status Data Word 1: Handshaking and Axis Status
Word 1 of the modules Input Status Data always contains basic handshaking and axis
status bits.
15
HS
14
13
12
11
10
Used by system
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 modules 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
STB
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.
GFK-2471A
14
Input Status Data Word 2: External Input States
Word 2 of the modules Input Status Data always contains bits that indicate the states
of the external inputs for both Axis A and Axis B.
15
14
13
12
11
10
FE1
JF1
JR1
DR1
RO2
FE2
JF2
JR2
DR2
ES2
COIN
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
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
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
Reserved (always 0)
14-32
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
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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.
GFK-2471A
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis A External Input States
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
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.
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
GFK-2471A
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
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Word 3
Word 4
Word 5
14-36
HS
Word 6
Word 7
Word 8
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
Word 3
Word 4
Word 5
Used by system
ERR2
Word 6
Word 7
Word 8
GFK-2471A
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
11
O.RUN
10
Dwell
HSR
FE
JF
JR
WND
14-38
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
Word 2
Word 3
Word 4
System Error 2
Word 5
Word 6
Word 7
Word 8
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 3
Word 4
Word 5
Word 6
Word 7
Device Number
Word 8
GFK-2471A
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
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
14-40
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Axis A External Input States
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
GFK-2471A
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
Word 3
Word 4
Word 5
System Error 1
Word 6
System Error 2
Word 7
Word 8
14-42
GFK-2471A
14
Input Status Data Format: Module Hardware Revision
To return the MicroMotion Modules 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
Word 2
Word 3
Word 4
Word 5
Hardware Version
Word 6
Word 7
Word 8
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
GFK-2471A
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
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
ERR2
Used by system
Axis A External Input States
Word 3
Word 4
Word 5
14-44
HS
Word 6
Word 7
Word 8
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
Word 4
Word 5
Word 6
Word 7
Word 8
Word 1
Word 2
Scan 2
STB1
Word 2
Scan 1
RUN1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
GFK-2471A
Not used
(holds previous value)
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
Word 4
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
Word 6
Word 7
Word 8
INIT
Word 2
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
Word 1
Scan 3
STB1
Word 3
Word 1
Scan 2
RUN1
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Word 2
Word 3
Word 4
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
Word 6
Word 7
Word 8
14-46
Not used
(holds previous value)
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.
Scan 1
GFK-2471A
RUN1
STB1
ERR1 RUN2
STB2
Word 3
Word 4
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
Word 6
Profile Number
Word 7
Word 8
INIT
RUN1
STB1
ERR1 RUN2
STB2
Word 2
Word 3
Word 4
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
Word 6
Word 7
Velocity [lower]
Word 8
Velocity [upper]
Word 1
Scan 3
INIT
Word 1
Scan 2
HS
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Word 2
Word 3
Word 4
Used by system
Axis A External Input States
Axis A Executing Profile, or Status Bits
Axis B Executing Profile, or Status Bits
Word 5
Word 6
Word 7
Not used
Word 8
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.
HS
INIT
Word 4
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
Word 7
Word 8
INIT
Word 2
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Used by system
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
Word 1
14-48
ERR1 RUN2
Word 3
Word 1
Scan n
STB1
Word 2
Scan 1
RUN1
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
ERR2
Word 2
Used by system
Axis A External Input States
Word 3
Last
Word 4
Scan
Word 5
Word 6
Word 7
Not used
Word 8
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.
Profile or Dwell
Type of Move
Position Control or Speed Control
Cycle Type
Acceleration Type
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
Word 4
STB2
Used by system
ERR2
Word 5
Number of Words
Word 6
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
Word 3
Word 4
Word 5
Profile or Dwell n
Word 6
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
Word 2
HS
INIT
RUN1
STB1
ERR1 RUN2
STB2
Used by system
ERR2
Word 3
Last
Word 4
Scan
Word 5
Word 6
Profile or Dwell n
Word 7
Not used
Word 8
14-49
14
14-50
GFK-2471A
Chapter
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.
Coils
Input Status Bits
Input Registers
Holding Registers
GFK-2471A
Setting Up Parameters
Reading Module Data
Controlling the Module
15-1
15
Machine Edition
software with integrated
MicroMotion Setup tool
Host Controller
Up to 32 MicroMotion Modules
15-2
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.
GFK-2471A
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 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 Function
Decimal
Hexadecimal
01
01
02
02
03
03
04
04
05
05
06
06
15
0F
16
10
Instructions for using all supported commands are given later in this chapter.
15-4
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.
Parameter
Parameter
Parameter
Parameter
Preset Multiple
Registers Command
Force Coil
Command
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
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
205
206
220
207
221
212
226
213
227
210
224
211
225
141
Device Number
Axis A Common
Parameters
200 257
Axis B Common
Parameters
500 999
1500-1999
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
1500
1999
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
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.
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.
GFK-2471A
15-7
15
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
Writes data in a
Holding Register.
Function Codes:
0x04 Read input registers
0x05 Force single coil
0x06 Force single register
0x0F Force multiple coils
0x10 Force multiple registers
15-8
GFK-2471A
15
Reading Module Data
Operating information for the MicroMotion module and the current parameters are
located in the modules Input Register memory. The host can read the information
using Function Code 04.
Host
MicroMotion Module
Response
Function Code: 0x04 Read Input Registers
MicroMotion Module
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
15-9
15
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.
*
**
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
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
-
edge
Name
211
edge
212
edge
213
edge
-
edge
221
edge
-
edge
225
edge
226
edge
227
edge
-
edge
241
edge
-
edge
245
edge
-
level
249
level
edge
253
edge
-
edge
257
edge
-
GFK-2471A
260
edge
261
edge
15-11
15
Coils Table
Address
(262 - 263) Not used
Name
264
edge
265
edge
-
edge
269
edge
-
edge
273
edge
-
(281 - 282)
283
Not used
** Follower operation, set / cancel [B axis] 0=cancel, 1 = set
(284 - 291)
Not used
level
level
-
292
level
293
level
Not used
(294 - 299)
300
edge
301
edge
302
edge
303
edge
304
edge
305
edge
306
edge
-
edge
311
edge
312
edge
313
edge
314
edge
315
edge
316
edge
-
(307 - 309)
310
(307 - 339)
15-12
When
Detected
-
Not used
340
edge
341
edge
342
edge
GFK-2471A
15
Coils Table
Address
Name
343
edge
344
edge
345
edge
346
edge
347
edge
Not used
360
level
361
edge
362
level
363
edge
(348 - 359)
370
level
371
edge
372
level
373
edge
400
edge
401
edge
402
Save all parameters from MicroMotion module to Memory Pack module edge
403
edge
404
edge
-
edge
408
edge
409
edge
410
edge
-
When
Detected
15-13
15
Coils Table
Address
15-14
Name
When
Detected
413
edge
414
edge
415
edge
500
501
510
reserved.
edge
511
reserved
edge
520
521
522
523
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
6
7
8
GFK-2471A
10
11
12
13
14
15
MicroMotion module is OK = 1.
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
15-15
15
Input Status
Table Address
(33 - 142)
Contents
Not used
143
144
(145 - 149)
150
Not used
Common Parameters error status
0 = No errors,
1 = Error
151
0 = no error, 1 = error
152
0 = no error, 1 = error
(153 - 247)
Not used
248
249
(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
0 = no, 1 = yes
293
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
421
(422 -)
Not used
500
501
510
reserved
511
reserved
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
26
27
28
29
30
31
32
33
34
35
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
3-5
10
100
11
12-14
102
GFK-2471A
Parameter
0-2
3-5
6-8
12-13
14-15
Parameter
8-9
10
11
15-19
15
Input
Registers
Address
15-20
Name
12
15
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
GFK-2471A
15
Input
Registers
Address
139
140
141
142
143
144
145
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
149
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
152
153
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
156
157
158
159
160
161
162
163
164
165
166
(167 189)
Not used
190
191
192
193
194
195
(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
204
205
206
207
208
209
210
15-22
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
GFK-2471A
15
Input
Registers
Address
Name
237
238
239
240
241
242
243
244
245
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
249
250
251
252
st
rd
th
th
th
th
th
253
254
255
st
nd
rd
th
th
th
256
257
258
259
260
th
th
261
262
263
264
265
266
267 289
GFK-2471A
nd
Not used
290
291
292
293
294
295
15-23
15
Input
Registers
Address
(296 - 497)
Name
Not used
498
499
500
501
999
1000
1001
1499
1500
1501
1999
2000
2001
2499
(2500 4499)
4500
4515
(4516 4519)
15-24
4520
4521
GFK-2471A
15
Input
Registers
Address
4522
4523
4524
4525
4526
4527
6560
6561
6562
6563
6564
6565
6566
6567
(6568 -)
GFK-2471A
Name
Not used
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 modules 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
(6 - 99)
100
15-26
Name
Not used
Common Parameters for outputs of Axis A
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
GFK-2471A
15
Holding
Registers
Address
120
GFK-2471A
Name
Maximum Velocity for Axis A in manual mode [Upper]
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
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
149
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
152
153
154
155
156
157
15-27
15
Holding
Registers
Address
Name
158
159
160
161
162
163
164
165
166
191
192
193
194
195
15-28
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
GFK-2471A
15
Holding
Registers
Address
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
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
249
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
252
253
254
155
256
257
258
GFK-2471A
Name
15-29
15
Holding
Registers
Address
Name
259
260
261
262
263
264
265
266
267 289
290
291
292
293
294
295
499
500
501
999
1000
1001
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
1500
1501
1999
15-30
GFK-2471A
15
Holding
Registers
Address
2000
2001
2499
(2500 4499)
4519
4520
4521
4522
4523
4524
4525
4526
4527
6560
6561
6562
6563
6564
6565
6566
6567
(6568 -)
GFK-2471A
Name
Not used
15-31
15
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)
(C)
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.)
15-32
Response (hex)
Device address
03
Device address
03
01
01
00
02
6D
CB
00
0A
0E
Error check
[CRC]
Error check
[CRC]
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
(B)
(C)
Response (hex)
05
Device address
05
02
02
09
01
67
C5
00
Error check
[CRC]
08
Error check
[CRC]
GFK-2471A
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
(B)
(C)
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.
15-34
Response (hex)
Device address
0A
Device address
0A
03
03
07
04
D0
49
00
2A
02
C1
Error check
[CRC]
F5
Error check
[CRC]
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
(B)
(C)
Response
Device address
0A
Device address
0A
04
04
00
04
9F
49
00
2A
02
C1
Error check
[CRC]
F5
Error check
[CRC]
GFK-2471A
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.
15-36
Response (hex)
Device address
15
Device address
15
05
05
00
00
77
77
FF
FF
00
00
Error check
[CRC]
Error check
[CRC]
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.
Response (hex)
Device address
1B
Device address
1B
06
06
00
00
00
00
00
00
14
14
Error check
[CRC]
Error check
[CRC]
GFK-2471A
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.
Query (hex)
15-38
Response (hex)
Device address
1F
Device address
1F
0F
0F
00
00
A9
A9
00
00
03
03
Number of bytes
01
Error check
[CRC]
Change data
05
Error check
[CRC]
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.
H
H
3 8
0 0
8 0
0 1
Query (hex)
Response (hex)
Device address
33
Device address
33
10
10
00
00
75
75
00
00
02
02
Number of bytes
04
Error check
[CRC]
38
80
00
01
Error check
[CRC]
GFK-2471A
15-39
15
15-40
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
GFK-2471A
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.
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.
16-2
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 Modules
Status LED is turned off.
GFK-2471A
16
GFK-2471A
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
Abnormal
42
Abnormal
43
44 *
48
50 *
Follower Mode
51 *
52 *
53 *
54 *
55 *
58 *
Abnormal
Abnormal
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
Warning
61
Warning
62
63
16-4
Error
Type
Abnormal
Changing
Position Change command specifies position that exceeds the
current position Upper Position Limit or Lower Position Limit.
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 *
Warning
66 * *
Warning
Warning
Warning
67
68 *
Windowing
69 *
6F
Undefined
command
execution
Warning
80
Setting
Common
Parameters
Warning
Warning
82
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
Warning
86
Warning
87
Warning
88
Warning
89
Warning
8A
Warning
8B
Warning
81
GFK-2471A
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
Warning
90
Warning
91
Warning
92
93
94
95
96
97
98
99
9A
9B
9C
9D
9E
9F
A0
16-6
Error
Type
Warning
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
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
Warning
B9 * **
Warning
GFK-2471A
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 *
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
GFK-2471A
16
When
Detected
Off
Stop
Failure
Off
Stop
Failure
Always
Off
Stop
Failure
Off
Stop
Failure
Off
Stop
Failure
Off
Stop
Abnormal
Off
Stop
Abnormal
E105
Powerup
E201
Always
GFK-2471A
Error
Level
E104
E202
Status Oper
LED ation
Powerup
E102
E103
Description
16-9
16
Error
(hex)
E301
When
Detected
Powerup
Status Oper
LED ation
Description
Error
Level
b7 b6
b0
B
Unused (0)
A B
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
Off
Stop
Abnormal
E303
Off
Stop
Abnormal
Off
Stop
Abnormal
E304
E401
Data
Backup
On
Run
Warning
E402
Writing to
Memory
Module
On
Run
Warning
Command
is received
On
Run
Warning
On
Run
Warning
On
Run
Warning
On
Run
Warning
E501
E502
E503
E504
16-10
GFK-2471A
16
Error
(hex)
When
Detected
E601
MODBUS
Query
received
from host
Description
Status Oper
LED ation
Error
Level
On
Run
Warning
On
Run
Warning
On
Run
Warning
E604
On
Run
Warning
E801
On
Run
Warning
E802
On
Run
Warning
E803
On
Run
Warning
E804
Off
Stop*
Warning
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.
16-11
16
16-12
GFK-2471A
16
Error Handling from a VersaMax Micro PLC CPU
A VersaMax Micro PLC CPU (see chapter 14), can monitor the modules 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
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
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
Word 2
Word 3
System Error 1
Word 4
System Error 2
Word 5
Word 6
Word 7
Word 8
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
Word 2
Word 3
Word 4
Word 5
Word 6
System Error 2
Word 7
Word 8
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
16-13
16
Contents
12
151
0 = no error, 1 = error
152
0 = no error, 1 = error
If an error is present, the host controller can read the error code in the modules Input
Register Table:
Input Registers
Address
Contents
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
GFK-2471A
Appendix
A
Floating point data in the MicroMotion module uses the single-precision floating-point
(IEEE754) format.
31 30
sign
23 22
8-bit exponent
0
23-bit mantissa
Exponent
part (E)
FF
FE
GFK-2471A
Mantissa
Mantissa
part (M)
7FFFFF
(1.11 - - - 11)2
7FFFFE
(1.11 - - - 10)2
80
(1.00 - - - 01)2
7F
(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
+3.40282310
38
Maximum value
0000
+1.17549410
-38
8080
0000
-1.17549410
-38
FF7F
FFFF
-3.40282310
38
Minimum value
0080
A-2
Floating Point
Handled as 0
GFK-2471A
Large Underflow
Small Underflow
GFK-2471A
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.
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
40000000
0.2
3E4CCCCD
0.00002
37A7C5AC
3F800000
0.1
3DCCCCCD
0.00001
3727C5AC
00000000
00000000
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
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
0
CW
(59,999,998)
=
=
=
=
=
H4C64E1C0
H4C64E1C0
H4C64E1C0
H4C64E1C0
H4C64E1C0
Current position
(Display)
60,000,000
CCW
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
GFK-2471A
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)
A-6
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
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
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
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
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
GFK-2471A