LS ELECTRIC XGT Series User manual

Programmable Logic Control
XGI CPU Module
XGT Series
XGI-CPU
Z3
XGI-CPU
Z5
XGI-CPUZ7

Safety Instruction
1
Before using the product …
For your safety and effective operation, please read the safety instructions thoroughly before using the
product.
►Safety Instructions should always be observed in order to prevent accident or risk with the safe and
proper use the product.
►Instructions are separated into “Warning”and “Caution”, and the meaning of the terms is as follows;
Thissymbolindicatesthepossibilityofseriousinjuryordeathifsomeapplicable
instruction is violated
This symbol indicates the possibility of slight injury or damage to products if
some applicable instruction is violated
►The marks displayed on the product and in the user’s manual have the following meanings.
Be careful! Danger maybe expected.
Be careful! Electric shock may occur.
►The user’s manual even after read shall be kept available and accessible to
any user of the product.
Warning
Caution

안전을 위한 주의 사항
2
Safety Instructions when designing
Please, install protection circuit on the exterior of PLC to protect
the whole control system from any error in external power or PLC
module. Any abnormal output or operation may cause serious problem
in safety of the whole system.
-Install applicable protection unit on the exterior of PLC to protect the system from
physical damage such as emergent stop switch, protection circuit, the upper/lowest
limit switch, forward/reverse operation interlock circuit, etc.
-Ifanysystemerror (watch-dogtimererror,moduleinstallationerror,etc.)isdetected
during CPU operation in PLC, the whole output is designed to be turned off and
stopped for system safety. However, in case CPU error if caused on output device
itself such as relay or TR can not be detected, the output may be kept on, which
may cause serious problems. Thus, you are recommended to install an addition
circuit to monitor the output status.
Never connect the overload than rated to the output module nor
allow the output circuit to have a short circuit, which may cause a
fire.
Never let the external power of the output circuit be designed to
be On earlier than PLC power, which may cause abnormal output or
operation.

In case of data exchange between computer or other external equipment and
PLC through communication or any operation of PLC (e.g. operation mode
change), please install interlock in the sequence program to protect the system
from any error. If not, it may cause abnormal output or operation.
Warning

Safety Instruction
3
Safety Instructions when designing
Safety Instructions when designing
I/O signal or communication line shall be wired at least 100mm away from a
high-voltage cable or power line.If not, itmay cause abnormal outputoroperation.
Caution
Use PLC only in theenvironment specified in PLC manual or general standard
of data sheet. Ifnot,electricshock,fire,abnormaloperationof theproductor flames
may be caused.
Before installing the module, be sure PLC power is off. If not, electric shock or
damage on the product may be caused.
Be sure that each module of PLC is correctly secured. If the product is installed
loosely or incorrectly, abnormal operation, error or dropping may be caused.
Be sure that I/O or extension connecter is correctly secured. If not, electric
shock, fire or abnormal operation may be caused.
If lots of vibration is expected in the installation environment, don’t let PLC
directly vibrated. Electric shock, fire or abnormaloperation may be caused.
Don’t let any metallic foreign materials inside the product, which may cause
electric shock, fire or abnormal operation.
Caution

안전을 위한 주의 사항
4
Safety Instructions when wiring
Prior to wiring, be sure that power of PLC and external power is turned off. If not,
electric shock or damage on the product may be caused.
Before PLCsystem is powered on, be sure that all the covers of the terminal are
securely closed. If not, electric shock may be caused
Warning
Letthewiringinstalledcorrectlyaftercheckingthevoltageratedofeachproduct
and the arrangement of terminals. If not, fire, electric shock or abnormal operation
may be caused.
Secure the screws of terminals tightly with specified torque when wiring. If the
screws of terminals get loose, short circuit, fire or abnormal operation may be caused.
Surely use the ground wire of Class 3 for FG terminals, which is exclusively
used for PLC. If the terminals not grounded correctly, abnormal operation may be
caused.
Don’t let any foreign materials such as wiring waste inside the module while
wiring, which may cause fire,damage on the product or abnormal operation.
Caution

Safety Instruction
5
Safety Instructions for test-operation or repair
Safety Instructions for waste disposal
Don’t touch the terminal when powered. Electric shock or abnormal operation may
occur.
Prior to cleaning or tightening the terminal screws, let all the external power off
including PLC power. If not, electric shock or abnormal operation may occur.
Don’t let the battery recharged, disassembled, heated, short or soldered. Heat,
explosion or ignition may cause injuries or fire.
Warning
Don’t remove PCB from the module case nor remodel the module. Fire,electric
shock or abnormal operation may occur.
Prior to installing or disassembling the module, let all the external power off
including PLC power. If not, electric shock or abnormal operation may occur.
Keep any wireless installations or cell phone at least 30cm away from PLC. If not,
abnormal operation may be caused.
Caution
Product or battery waste shall be processed as industrial waste. The waste may
discharge toxic materials or explode itself.
Caution

Revision history
6
Revision History
Version Date Remark Chapter
V1.0 ’22.07 1. First edition

About user’s manual
7
Thank you for purchasing PLC of LS ELECTRIC Co., Ltd.
Before use, make sure to carefully read and understand the User’s Manual about the functions, performances, installation and
programming of theproductyoupurchasedinorderforcorrectuseandimportantly,lettheenduserandmaintenanceadministrator
to be provided with the User’s Manual.
TheUser’sManualdescribestheproduct. If necessary,youmayrefertothe followingdescriptionandorderaccordingly.Inaddition,
you may connect our website (http://www.ls-electric.com/)and download the information as a PDF file.
Relevant User’s Manuals
Title Description
XG5000 User’s Manual
(for XGK, XGB)
XG5000 software user manual describing online function such as
programming,print,monitoring, debuggingbyusingXGK, XGB CPU
XG5000 User’s Manual
(for XGI, XGR)
XG5000 software user manual describing online function such as
programming, print, monitoring, debugging by using XGI, XGRCPU
XGK/XGB Instructions & Programming User’s
Manual
User’s manual for programming to explain how to use instructions
that are used PLC system with XGK, XGB CPU.
XGI/XGR/XEC Instructions & Programming
User’s Manual
User’s manual for programming to explain how to use instructions
that are used PLC system with XGI, XGR CPU.
XGK CPU User’s Manual
(XGK-CPUA/CPUE/CPUH/CPUS/CPUU
/CPUUN/CPUHN/CPUSN)
User manual describing about XGK CPU module, power module,
base, IO module, specification of extension cable and system
configuration, EMC standard
XGI CPU User’s Manual
(XGI-CPUU/CPUH/CPUS/CPUE/CPUU/D
CPUUN)
User manual describing about XGI CPU module, power module,
base, IO module, specification of extension cable and system
configuration, EMC standard
XGR redundant series User’s
Manual
User manual describing about XGR CPU module, power module,
extension drive, base, IO module, specification of extension cable
and system configuration, EMC standard
Current user manual is written based on the following version.
Related OS version list
Product name
OS version
XGI-CPUZ3,5,7 V1.0
XG5000 V3.7

Table of content
8
목차
Part 1 CPU
CHAPTER 1.OVERVIEW.............................................................................................................................................................................1-1
1.1 How to use.............................................................................................................................................................................................1-1
1.2 Features..................................................................................................................................................................................................1-3
1.3 Terminology...........................................................................................................................................................................................1-7
CHAPTER 2 SYSTEM CONFIGURATION ...............................................................................................................................................2-1
2.1 XGI-CPUZ System Configuration.....................................................................................................................................................2-1
2.1.1 XGI-CPUZ System Configuration.......................................................................................................................................................................................2-1
2.1.2 XGI Series Configuration method........................................................................................................................................................................................2-2
2.2 Product List...........................................................................................................................................................................................2-3
2.3 Basic system.........................................................................................................................................................................................2-9
2.3.1 Configuration method of Basic System............................................................................................................................................................................2-9
2.3.2 Max. Configuration of Basic System...............................................................................................................................................................................2-10
2.3.3 Terminating resistor connection.........................................................................................................................................................................................2-11
2.3.4 Module selection when configuring basic system...................................................................................................................................................2-12
2.4 Network system................................................................................................................................................................................. 2-14
2.4.1 Network system..........................................................................................................................................................................................................................2-14
2.4.2 Relationship between network module and CPU...................................................................................................................................................2-14
CHAPTER 3 SPECIFICATIONS OF CPU MODULE ...............................................................................................................................3-1
3.1 General Specifications........................................................................................................................................................................3-1
3.2 Performance Specification................................................................................................................................................................3-3
3.3 Name of each part and function.......................................................................................................................................................3-7
CHAPTER 4 PROGRAM CONFIGURATION AND OPERATION METHOD ...................................................................................4-1
4.1 Program Instruction............................................................................................................................................................................4-1
4.1.1 Program operation methods...................................................................................................................................................................................................4-1
4.1.2 Operation Processing during Momentary Power Failure.......................................................................................................................................4-2
4.2 Program Execution..............................................................................................................................................................................4-3
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4.2.1Task control.......................................................................................................................................................................................................................................4-3
4.2.2 Motion command execution...................................................................................................................................................................................................4-7
4.3 Parameter Setting................................................................................................................................................................................4-8
5.3.1 Basic parameter............................................................................................................................................................................................................................4-8
5.3.2 Local Ethernet Parameter.....................................................................................................................................................................................................4-12
4.4 Run mode............................................................................................................................................................................................ 4-18
4.4.1 Run mode......................................................................................................................................................................................................................................4-18
4.4 2 Stop Mode.....................................................................................................................................................................................................................................4-19
4.4.3 Operation mode Change.......................................................................................................................................................................................................4-20
4.5 Memory................................................................................................................................................................................................ 4-21
4.5.1 Program memory.......................................................................................................................................................................................................................4-21
4.5.3 Data retain area setting..........................................................................................................................................................................................................4-22
CHAPTER 5 CPU MODULE FUNCTIONS..............................................................................................................................................5-1
5.1 Built-In Display......................................................................................................................................................................................5-1
5.1.1 Features.............................................................................................................................................................................................................................................5-1
5.1.2 Menu Configuration.....................................................................................................................................................................................................................5-1
5.1.3 Menu detail description..........................................................................................................................................................................................................5-5
5.2 Self-diagnosis function.................................................................................................................................................................... 5-10
5.2 I/O Module check function........................................................................................................................................................................................................5-10
5.2.2 PBM(Power Backup Module) Check function...........................................................................................................................................................5-11
5.2.3 Error History Save Function.................................................................................................................................................................................................5-12
5.2.4Troubleshooting..........................................................................................................................................................................................................................5-12
5.3 Clock .................................................................................................................................................................................................... 5-14
5.3.1 Read and Setting from XG5000........................................................................................................................................................................................5-14
5.3.2 Read by RTC Read Flag...................................................................................................................................................................................................5-15
5.3.3 RTC Data Modification by Program................................................................................................................................................................................5-16
5.3.4 Weekday Expression Method and Time error...........................................................................................................................................................5-17
5.4 Remote Functions............................................................................................................................................................................ 5-18
5.5 Forced I/O On/Off Function ............................................................................................................................................................ 5-19
5.5.1 Force I/O setup Method.........................................................................................................................................................................................................5-19
5.5.2 Forced On/Off Execution Point and Execution Method.................................................................................................................................5-20
5.6 Direct I/O Operation.......................................................................................................................................................................... 5-21
5.7 Saving Operation History................................................................................................................................................................ 5-22
5.8 External Device Error Diagnosis................................................................................................................................................... 5-24
5.9 Fault Mask Function......................................................................................................................................................................... 5-25
5.10 I/O Module Skip............................................................................................................................................................................... 5-26

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5.11 Changing Module during Operation.......................................................................................................................................... 5-27
5.12 I/O No. Allocation Method............................................................................................................................................................. 5-28
5.13 Program Modification during Operation................................................................................................................................... 5-28
CHAPTER 6 BUILT-IN COMMUNICATION FUNCTION.....................................................................................................................6-1
6.1 List of built-in communication support services.........................................................................................................................6-1
6.1.1 List of built-in communication support services...........................................................................................................................................................6-1
6.2 built-in Communication Function....................................................................................................................................................6-2
6.2.1 Local Ethernet Parameter Settings.....................................................................................................................................................................................6-2
6.2.2 XG5000 Connection...................................................................................................................................................................................................................6-4
6.2.3 Dedicated communication server(XGT, Modbus TCP)..........................................................................................................................................6-6
6.2.4 NTPclient..........................................................................................................................................................................................................................................6-8
6.2.5 FTP(S) Server..............................................................................................................................................................................................................................6-14
6.2.6 Web Server(HTTP(S))............................................................................................................................................................................................................6-29
6.2.7 Socket Service.............................................................................................................................................................................................................................6-30
6.2.8 Built-in Communication security........................................................................................................................................................................................6-30
6.2.9 Ping Test..........................................................................................................................................................................................................................................6-36
6.2.10 Packet capture..........................................................................................................................................................................................................................6-38
6.2.11 Local Ethernet Diagnostics information......................................................................................................................................................................6-41
6.3 Wi-Fi Device Setting......................................................................................................................................................................... 6-43
6.3.1 Operation Mode..........................................................................................................................................................................................................................6-43
6.3.2 Wi-Fi module Setting................................................................................................................................................................................................................6-44
CHAPTER 7 SD MEMORY SERVICES.....................................................................................................................................................7-1
7.1 SD Memory service function.............................................................................................................................................................7-1
7.1.1 Features.............................................................................................................................................................................................................................................7-1
7.1.2 Project backup function.............................................................................................................................................................................................................7-1
7.1.3 History backup function.............................................................................................................................................................................................................7-3
7.1.4 Project Compare function.........................................................................................................................................................................................................7-5
7.1.5 Project Updated function..........................................................................................................................................................................................................7-7
7.1.6 Boot operation function..............................................................................................................................................................................................................7-9
7.1.7 Memory card uninstallation function................................................................................................................................................................................7-10
7.1.8 Memory Card Folder Structure..........................................................................................................................................................................................7-11
7.1.9 Memory Card Service function...........................................................................................................................................................................................7-12
7.1.10 Status Information and Error code List.......................................................................................................................................................................7-13
7.1.11 Precaution when using memory card..........................................................................................................................................................................7-15
7.2 File Commands................................................................................................................................................................................. 7-16

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7.2.1 File open..........................................................................................................................................................................................................................................7-16
7.2.2 File Close........................................................................................................................................................................................................................................7-18
7.2.3 File Write.........................................................................................................................................................................................................................................7-19
7.2.4 File Read.........................................................................................................................................................................................................................................7-22
7.2.5 File Seek.........................................................................................................................................................................................................................................7-24
7.2.6 File Copy.........................................................................................................................................................................................................................................7-26
7.2.7 File Remove..................................................................................................................................................................................................................................7-28
7.2.8 File Rename.................................................................................................................................................................................................................................7-29
7.2.9 Directory Create..........................................................................................................................................................................................................................7-31
7.2.10 Directory Remove...................................................................................................................................................................................................................7-33
7.2.11 PLC Data Backup...................................................................................................................................................................................................................7-35
CHAPTER 8 BUILT-IN PID FUNCTION ..................................................................................................................................................8-1
8.1 Characteristics......................................................................................................................................................................................8-1
8.2 PID control.............................................................................................................................................................................................8-1
8.3 PID Control Operation.........................................................................................................................................................................8-2
8.3.1 Terms...................................................................................................................................................................................................................................................8-2
8.3.2 PID expressions............................................................................................................................................................................................................................8-2
8.3.3 Pcontrol..............................................................................................................................................................................................................................................8-3
8.3.4 PI control............................................................................................................................................................................................................................................8-4
8.3.5 PID control........................................................................................................................................................................................................................................8-5
8.4 PID Commands....................................................................................................................................................................................8-6
8.4.1 PID loop States..............................................................................................................................................................................................................................8-6
8.4.2 PID Function Block......................................................................................................................................................................................................................8-7
8.5 PID Flag Configuration.................................................................................................................................................................... 8-12
8.5.1 Common bit area.......................................................................................................................................................................................................................8-14
8.5. 2 Individual data area.................................................................................................................................................................................................................8-17
8.6 Additional Functions of PID Command ...................................................................................................................................... 8-23
8.6.1 Various PID-based control methods...............................................................................................................................................................................8-23
8.6.2 Operation and function ofAntiwindup.............................................................................................................................................................................8-23
8.6.3 Operation and function ofAuto-tuning............................................................................................................................................................................8-23
8.6.4 Operation and function of cascade..................................................................................................................................................................................8-24
8.7 How to Use Built-in PID Control Function.................................................................................................................................. 8-26
8.7.1 hardware Configuration..........................................................................................................................................................................................................8-26
8.7.2 PID control Function flow chart..........................................................................................................................................................................................8-28
8.7.3 How to set parameters through PID monitor.............................................................................................................................................................8-29
8.7.4 Program example1...................................................................................................................................................................................................................8-30

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8.7.5 PID control(Variable monitor and Trend monitor)....................................................................................................................................................8-36
8.7.6 How to use theAuto-tuning..................................................................................................................................................................................................8-41
8.7.7 Example 2 Program.................................................................................................................................................................................................................8-43
8.7.8 Cascade operation....................................................................................................................................................................................................................8-44
8.8 PID Simulation................................................................................................................................................................................... 8-45
8.8.1 PID control example program(Simulation)..................................................................................................................................................................8-45
CHAPTER 9 WEB SERVICE FUNCTION .................................................................................................................................................9-1
9.1 Web server function............................................................................................................................................................................9-1
9.1.1 Features.............................................................................................................................................................................................................................................9-1
9.1.2 How to use Web Server............................................................................................................................................................................................................9-4
9.1.3 Dash Board Configuration.......................................................................................................................................................................................................9-5
CHAPTER 10 I/O MODULE ................................................................................................................................................................... 10-1
10.1 Cautions for Selecting Module.................................................................................................................................................... 10-1
10.2 Digital Input Module Specification.............................................................................................................................................. 10-3
10.2.1 8 point DC24V Input Module(Source/Sink type) ...............................................................................................................................................10-3
10.2.2 16 point DC24V Input Module(Source/Sink type).............................................................................................................................................10-4
10.2.3 16 point DC24V Input Module(Source type)........................................................................................................................................................10-5
10.2.4 32 point DC24V Input Module(Source/Sink type).............................................................................................................................................10-6
10.2.5 32 point DC24V Input Module(Source type)........................................................................................................................................................10-7
10.2.6 64 point DC24V Input Module(Source/Sink type).............................................................................................................................................10-8
10.2.7 64 point DC24V Input Module(Source type)........................................................................................................................................................10-9
10.2.8 16 point AC110V Input Module ................................................................................................................................................................................10-10
10.2.9 8 point AC220V Input Module...................................................................................................................................................................................10-11
10.2.10 8 point AC220V Input Module(Isolated contact point)............................................................................................................................10-12
10.3 Digital output module specification.........................................................................................................................................10-13
10.3.1 8 point relay output module........................................................................................................................................................................................10-13
10.3.2 16 point relay output module.....................................................................................................................................................................................10-14
10.3.3 16 point Relay Output Module (Surge Killer Type)........................................................................................................................................10-15
10.3.4 16 point Triac output module .....................................................................................................................................................................................10-16
10.3.5 16 point transistor output module(Sink type)...................................................................................................................................................10-17
10.3.6 32 point transistor output module(Sink type)...................................................................................................................................................10-18
10.3.7 64 point transistor output module(Sink type)...................................................................................................................................................10-19
10.3.8 16 point TR output module(Source type)............................................................................................................................................................10-20
10.3.9 32 point TR output module(Source type)............................................................................................................................................................10-21
10.3.10 64 point TR output module(Source type).........................................................................................................................................................10-22

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10.3.11 8 point TR output module(isolated contact point) .....................................................................................................................................10-23
10.4 Digital I/O hybrid module specification...................................................................................................................................10-24
10.4.1 32 point (DC Input ·Transistor Output) I/O hybrid module....................................................................................................................10-24
10.5 Event Input Module Specification.............................................................................................................................................10-25
10.5.1 Event Input Module (Source/Sink type)................................................................................................................................................................10-25
10.6 Smart Link ......................................................................................................................................................................................10-26
10.6.1 Module accessible to Smart Link...........................................................................................................................................................................10-26
10.6.2 Smart Link Compoents.................................................................................................................................................................................................10-26
10.6.3 Smart Link Mapping Table.........................................................................................................................................................................................10-27
10.6.4 Smart Link Connection.................................................................................................................................................................................................10-27
10.6.5 Smart Link Connection Diagram ...............................................................................................................................................................................10-28
10.6.6 Smart Link Specifications and Dimensions......................................................................................................................................................10-38
CHAPTER 11 POWER MODULE........................................................................................................................................................... 11-1
11.1 Selection Method ............................................................................................................................................................................ 11-1
11.2 Specifications .................................................................................................................................................................................. 11-3
11.3 Part names........................................................................................................................................................................................ 11-4
11.4 Example of Current Consumption/Power Calculations........................................................................................................ 11-5
CHAPTER 12 BASE AND EXTENSION CABLE.................................................................................................................................. 12-1
12.1 Specifications.................................................................................................................................................................................. 12-1
12.1.1 Main base....................................................................................................................................................................................................................................12-1
12.1.2 Extension base.........................................................................................................................................................................................................................12-1
12.1.3 Extension cable........................................................................................................................................................................................................................12-2
12.2 Part Names....................................................................................................................................................................................... 12-3
12.2.1 Main base....................................................................................................................................................................................................................................12-3
12.2.2 Extension base.........................................................................................................................................................................................................................12-3
CHAPTER 13 INSTALLATION AND WIRING .................................................................................................................................... 13-1
13.1 Installation ........................................................................................................................................................................................ 13-1
13.1.1 Installation Environment......................................................................................................................................................................................................13-1
13.1.2 Handling Precautions............................................................................................................................................................................................................13-3
13.1.3Attachment/Detachment of Module..............................................................................................................................................................................13-8
13.2 Wiring...............................................................................................................................................................................................13-10
13.2.1 Wiring Precautions..............................................................................................................................................................................................................13-10
19.2.2 Power Wiring..........................................................................................................................................................................................................................13-10

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13.2.3 I/O Module wiring.................................................................................................................................................................................................................13-12
13.2.4 Grounding wiring..................................................................................................................................................................................................................13-12
13.2.5 Cable Specification for Wiring.......................................................................................................................................................................................13-13
CHAPTER 14 MAINTENANCE AND REPAIR .................................................................................................................................... 14-1
14.1 Maintenance and Inspection........................................................................................................................................................ 14-1
14.2 Daily inspection............................................................................................................................................................................... 14-2
14.3 Periodic Inspection......................................................................................................................................................................... 14-3
CHAPTER 15 COMPLIANCE WITH EMC SPECIFICATIONS........................................................................................................... 15-1
15.1 Requirements for Conformance to EMC Directive................................................................................................................ 15-1
15.1.1 EMC Standard..........................................................................................................................................................................................................................15-1
15.1.2 Control Panel.............................................................................................................................................................................................................................15-2
15.1.3 Cable..............................................................................................................................................................................................................................................15-4
15.2 Requirement to Conform to the Low-Voltage Directive........................................................................................................ 15-5
15.2.1 Standards applicable to XGT series.............................................................................................................................................................................15-5
15.2.2 Selection of XGT Series PLC...........................................................................................................................................................................................15-5
CHAPTER 16 TROUBLESHOOTING..................................................................................................................................................... 16-1
16.1 Basic Procedure of Troubleshooting ........................................................................................................................................ 16-1
16.2 Troubleshooting.............................................................................................................................................................................. 16-2
16.2.1Action when Power LED is OFF................................................................................................................................................................................16-3
16.2. 2Action when ERR LED is blinking..........................................................................................................................................................................16-4
16.2.3 Action when Run, Stop LED is OFF.......................................................................................................................................................................16-5
16.2.4 Action when I/O Module does not work normally........................................................................................................................................16-6
16.2.5 Action when PROGRAM WRITE does not work...........................................................................................................................................16-8
16.3 Questionnaire for Troubleshooting............................................................................................................................................ 16-9
16.4 Cases...............................................................................................................................................................................................16-10
16.4.1 Input Circuit Error Type and Corrective Actions........................................................................................................................................16-10
16.4.2 Output Circuit Error Type and Corrective Actions....................................................................................................................................16-11

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Part 2 Motion
CHAPTER 1 MOTION CONTROL OPERATION ...................................................................................................................................1-1
1.1 Motion Specifications.........................................................................................................................................................................1-1
1.2 Motion control operation structure .................................................................................................................................................1-2
1.3 Motion control structure.....................................................................................................................................................................1-3
1.3 MOTION PARAMETER .......................................................................................................................................................................1-4
1.3.1 Master..................................................................................................................................................................................................................................................1-4
1.3.2 Slave....................................................................................................................................................................................................................................................1-8
1.3.3Axis parameter.............................................................................................................................................................................................................................1-12
1.3.4Axis groups parameter............................................................................................................................................................................................................1-30
1.3.5 NC parameter..............................................................................................................................................................................................................................1-34
1.3.6 CAM data.......................................................................................................................................................................................................................................1-34
1.4 EtherCAT Communication.............................................................................................................................................................. 1-35
1.4.1 What is EtherCAT?...................................................................................................................................................................................................................1-35
1.4.2 CoE(CANopen over EtherCAT)........................................................................................................................................................................................1-35
1.4.3 EtherCAT Status.........................................................................................................................................................................................................................1-36
1.4.4 EtherCAT Process Data Objective(PDO)....................................................................................................................................................................1-37
1.4.5 MultiFrame setting function..................................................................................................................................................................................................1-38
1.4.6 EtherCATCommunication Specification......................................................................................................................................................................1-39
1.4.7 EtherCATnetwork connection............................................................................................................................................................................................1-39
1.4.8 EtherCATnetwork Setting.....................................................................................................................................................................................................1-41
1.4.9 CiA402 Operation Mode Support....................................................................................................................................................................................1-43
1.4.10 EtherCAT master setting.....................................................................................................................................................................................................1-43
1.4.11 EtherCATSlave setting........................................................................................................................................................................................................1-44
1.4.12 EtherCAT Error Status information................................................................................................................................................................................1-45
1.4.13 EtherCAT master Status information...........................................................................................................................................................................1-46
1.4.14 EtherCATSlave Status information..............................................................................................................................................................................1-46
1.4.15Third-Party EtherCAT slave use.....................................................................................................................................................................................1-47
CHAPTER 2 MOTION FUNCTION BLOCK............................................................................................................................................2-1
2.1 Common Elements of Motion Function Blocks...........................................................................................................................2-1
2.1.1Axis status.........................................................................................................................................................................................................................................2-1
2.1.2 Groups status..................................................................................................................................................................................................................................2-3
2.1.3 Basic I/O Variable..........................................................................................................................................................................................................................2-4

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2.1.4 BufferMode input...........................................................................................................................................................................................................................2-7
2.1.5 Changes in Parameters during Execution of Motion Function Block..............................................................................................................2-7
2.1.6 Group Operation Route Change Settings......................................................................................................................................................................2-8
2.1.7 Motion Function Block Errors..............................................................................................................................................................................................2-10
2.2 Motion Function Block .................................................................................................................................................................... 2-11
2.3 Setting Range by Product............................................................................................................................................................... 2-15
2.3.1 Setting Range by Product.....................................................................................................................................................................................................2-15
2.4 Single-Axis Motion Function Block.............................................................................................................................................. 2-16
2.4.1 Servo On/Off (MC_Power)...................................................................................................................................................................................................2-16
2.4.2 homing start (MC_Home).....................................................................................................................................................................................................2-17
2.4.3 Immediate stop(MC_Stop)...................................................................................................................................................................................................2-19
2.4.4 Stop (MC_Halt)...........................................................................................................................................................................................................................2-20
2.4.5Absolute positioning operation (MC_MoveAbsolute)............................................................................................................................................2-21
2.4.6 Relative positioning operation (MC_MoveAbsolute).............................................................................................................................................2-24
2.4.7 Additive positioning operation (MC_MoveAdditive)...........................................................................................................................................2-27
2.4.8 Specified velocity operation (MC_MoveVelocity).....................................................................................................................................................2-30
2.4.10 Relative position operation ending with specified velocity operation (MC_MoveContinuousRelative)..................................2-38
2.4.11 torque control (MC_TorqueControl)..............................................................................................................................................................................2-42
2.4.12 Setting the current position (MC_SetPosition)........................................................................................................................................................2-44
2.4.13 Velocity/Acceleration override (MC_SetOverride)................................................................................................................................................2-46
2.4.14 Read parameter(MC_ReadParameter).....................................................................................................................................................................2-48
2.4.15 Write parameter(MC_WriteParameter)......................................................................................................................................................................2-51
2.4.16 Reset axis error (MC_Reset)...........................................................................................................................................................................................2-54
2.4.17Touch probe (MC_TouchProbe/MC_TouchProbeEx)........................................................................................................................................2-55
2.4. 18Abort trigger events (MC_AbortTrigger)....................................................................................................................................................................2-61
2.4.19 SuperImposed operation (MC_MoveSuperImposed).......................................................................................................................................2-62
2.4.20 SuperImposed operation stop(MC_MoveSuperImposed)..............................................................................................................................2-63
2.4.21 Extended homing start (LS_Home)..............................................................................................................................................................................2-64
2.5 Multi-Axis Motion Function Block ................................................................................................................................................ 2-66
2.5.1 Cam operation (MC_CamIn)..............................................................................................................................................................................................2-66
2.5.2 Cam operation Cancel(MC_CamOut)...........................................................................................................................................................................2-73
2.5.3 Gear operation (MC_GearIn)..............................................................................................................................................................................................2-75
2.5.4 Gear operation Cancel(MC_GearOut)..........................................................................................................................................................................2-78
2.5.5 Electrical gearing by specifying the position (MC_GearInPos)........................................................................................................................2-80
2.5.6. Phase compensation (MC_Phasing)............................................................................................................................................................................2-86
2.57 Link operation(LS_MoveLink)..............................................................................................................................................................................................2-87
2.6 Group Motion Function Block....................................................................................................................................................... 2-90
2.6.1Add axis to group(MC_AddAxisToGroup)..................................................................................................................................................................2-90

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2.6.2 Remove group axis (MC_AddAxisToGroup).............................................................................................................................................................2-91
2.6.3 Removes all axes from the group (MC_UngroupAllAxes).................................................................................................................................2-92
2.6.4 Group Enable (MC_GroupEnable)..................................................................................................................................................................................2-93
2.6.5 Group Disable (MC_GroupDisable)................................................................................................................................................................................2-94
2.6.6 Group homing operation (MC_GroupHome)............................................................................................................................................................2-95
2.6.7 Group current position setting (MC_GroupSetPosition)......................................................................................................................................2-96
2.6.8 Group immediate stop (MC_GroupStop).....................................................................................................................................................................2-98
2.6.9 Group stop (MC_GroupStop).............................................................................................................................................................................................2-99
2.6.10 Groups error reset (MC_GroupReset).....................................................................................................................................................................2-100
2.6.11Absolute position Linear Interpolation operation (MC_MoveLinearAbsolute)....................................................................................2-101
2.6.12 Relative position Linear Interpolation operation (MC_MoveLinearRelative)......................................................................................2-106
2.6.13Absolute position circular interpolation operation (MC_MoveCircularAbsolute)...............................................................................2-111
2.6.14 Relative position circular interpolation operation (MC_MoveCircularRelative).................................................................................2-116
2.6.15 Read group axis parameter (LS_ReadGroupParameter)............................................................................................................................2-121
2.6.17Axis group override (MC_GroupSetOverride).....................................................................................................................................................2-125
2.7 Dedicated Function Block............................................................................................................................................................2-127
2.7.1 Communication connection (LS_Connect)..............................................................................................................................................................2-127
2.7.2 Communication disconnect (LS_Disconnect)........................................................................................................................................................2-128
2.7.3 Read SDO (LS_ReadSDO).............................................................................................................................................................................................2-129
2.7.4 Write SDO (LS_WriteSDO)..............................................................................................................................................................................................2-130
2.7.5 Save SDO (LS_SaveSDO)..............................................................................................................................................................................................2-131
2.7.6 Encoder current position setting (LS_EncoderPreset)......................................................................................................................................2-132
2.7.7 JOG operation (LS_Jog)....................................................................................................................................................................................................2-133
2.7.8 Read Cam data (LS_ReadCamData)........................................................................................................................................................................2-135
2.7.9 Write Cam data (LS_WrieCamData)...........................................................................................................................................................................2-136
2.7.10CAM block property write (LS_WriteCamBlockProperty).............................................................................................................................2-138
2.7.12 Creating cam data (LS_GenerateCamData).......................................................................................................................................................2-141
2.7.13 CAM block property read (LS_ReadCamBlockProperty).............................................................................................................................2-142
2.7.14 CAM block node read (LS_ReadCamBlockNode)..........................................................................................................................................2-143
2.7.15 Read ESC (LS_ReadEsc)..............................................................................................................................................................................................2-145
2.7.18 Variable Cam operation (LS_VarCamIn)................................................................................................................................................................2-150
2.7.19 Variable Gear operation (LS_VarGearIn)...............................................................................................................................................................2-152
2.7.20 Variable positioning gear operation (LS_VarGearInPos)...............................................................................................................................2-153
2.7.21 Read the slave location of the CAM table (LS_ReadCamTableSlavePos)........................................................................................2-155
2.7.22 Write inverter speed (LS_InverterWriteVel)...........................................................................................................................................................2-156
2.7.23 Read inverter speed (LS_InverterReadVel)..........................................................................................................................................................2-157
2.7.24 Write inverter control word (LS_InverterControl)................................................................................................................................................2-158
2.7.25 Read inverter status 1 (LS_InverterStatus1)........................................................................................................................................................2-160

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2.7.26 Read inverter status 2 (LS_InverterStatus2)........................................................................................................................................................2-161
2.7.27 Speed control operation (CSV mode) (LS_SyncMoveVelocity)...............................................................................................................2-162
2.7.28 Read CAM table master position (LS_ReadCamTableMasterPos).......................................................................................................2-163
2.7.29 OnOff CAM Operation (LS_OnOffCam).................................................................................................................................................................2-165
2.7.30 RotaryKnife cam profile generation (LS_RotaryKnifeCamGen)...............................................................................................................2-168
2.7.31 Cross sealer cam profile generation (LS_CrossSealCamGen)................................................................................................................2-171
2.7.32 Expand OnOff CAM Operation (LS_OnOffCamEx)........................................................................................................................................2-174
2.7.33 Master position loop control (LS_MasterPLoopControlOn).........................................................................................................................2-178
2.7.34 Master position loop control Off (LS_MasterPLoopControlOff).................................................................................................................2-179
2.7.35 Cross -coupled control (LS_CrossCoupledControlOn)................................................................................................................................2-180
2.7.36 Cross -coupled control Off (LS_CrossCoupledControlOff).........................................................................................................................2-181
2.7.37 Motion data Save (LS_SaveMotionData)..............................................................................................................................................................2-182
2.8 Coordinate System Operation Function Block.......................................................................................................................2-183
2.8.1 Machine information setting (MC_SetKinTransform).........................................................................................................................................2-183
2.8.2 PCS Setting (MC_SetCartesianTransform)............................................................................................................................................................2-186
2.8.3 Workspace setting (LS_SetWorkspace)...................................................................................................................................................................2-188
2.8.4 Time-linear interpolation operation for absolute position of coordinate system (LS_MoveLinearTimeAbsolute)............2-191
2.8.5 Time-linear interpolation operation for relative position of coordinate system (LS_MoveLinearTimeRelative).................2-193
2.8.6 Circular interpolation operation for absolute position of coordinate system (MC_MoveCircularAbsolute2D)...................2-194
2.8.7 Circular interpolation operation for relative position of coordinate system (MC_MoveCircularRelative2D)........................ 2-198
2.8.8 Synchronization setting of conveyor belt (MC_TrackConveyorBelt).........................................................................................................2-202
2.8.9 Synchronization setting of the rotary table (MC_TrackRotaryTable).........................................................................................................2-203
2.8.10 JOG operation of the coordinate system (MC_RobotJog)...........................................................................................................................2-204
2.8.11 Set path operation data (MC_SetMovePath).......................................................................................................................................................2-206
2.8.12 Delete path operation data (MC_RestMovePath).............................................................................................................................................2-208
2.8.13 Read path operation data (MC_GetMovePath).................................................................................................................................................2-209
2.8.14 Run path operation (MC_RunMovePath)..............................................................................................................................................................2-211
2.9 NC Control Function Block ..........................................................................................................................................................2-212
2.9.1 Specify NC program (NC_LoadProgram)................................................................................................................................................................2-212
2.9.2 Specify block operation (NC_BlockControl)............................................................................................................................................................2-213
2.9.3 Reset (NC_Reset)..................................................................................................................................................................................................................2-214
2.9.4 Emergency stop (NC_Emergency)..............................................................................................................................................................................2-216
2.9.5 Start automatic operation (NC_CycleStart)..............................................................................................................................................................2-217
2.9.6 Feed hold (NC_FeedHold)................................................................................................................................................................................................2-218
2.9.7 NC homing (LS_Home)......................................................................................................................................................................................................2-219
2.9.8 Rapid traverse override (NC_RapidTraverseOverride)....................................................................................................................................2-220
2.9.9 Cutting feed override (NC_CuttingFeedOverride)...............................................................................................................................................2-221
2.9.10 Spindle override (NC_SpindleOverride).................................................................................................................................................................2-222

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2.9.11 M Code operation completed (NC_McodeComplete)....................................................................................................................................2-223
2.9.12 S Code operation completed (NC_ScodeComplete)......................................................................................................................................2-224
2.9.13 T Code operation completed (NC_TcodeComplete).......................................................................................................................................2-225
2.9.14 Read NC parameter(MC_ReadParameter).........................................................................................................................................................2-226
2.9.15 Write NC parameter(NC_WriteParameter)...........................................................................................................................................................2-236
2.9.16 Reverse operation(NC_RetraceMove)...................................................................................................................................................................2-237
2.9.17 Block skip(NC_BlockSkip)..............................................................................................................................................................................................2-238
2.9.18 Dry Run (NC_DryRun)......................................................................................................................................................................................................2-239
2.9. 19 Tool Retract/Recover Operation (NC_ToolMode)............................................................................................................................................2-240
2.9. 20 Read Tool Retract/Recover Modes (NC_ReadToolMode).........................................................................................................................2-241
2.9.21 Mirror Image (NC_MirrorImage)..................................................................................................................................................................................2-242
2.9.22 Spindle operation control (NC_SpindleControl)..................................................................................................................................................2-243
2.9.23 NC optional block skip (NC_BlockOptionalSkip)...............................................................................................................................................2-244
2.9. 24 Manual Measurement of CompensationAmount (NC_ManualToolComp).....................................................................................2-245
2.9.25 NC spindle gear change (NC_ChgSpindleGear)..............................................................................................................................................2-246
2.9.26 Export NC program (NC_EXPORTPROGRAM)..............................................................................................................................................2-248
2.9.26 NC program Import (NC_IMPORTPROGRAM)...............................................................................................................................................2-249
2.10 Monitor Commands.....................................................................................................................................................................2-250
2.10.1 PLC status Information Reading (READ_PLC_INFO)..................................................................................................................................2-250
CHAPTER 3 MOTION CONTROL FUNCTION......................................................................................................................................3-1
3.1 Function overview...............................................................................................................................................................................3-1
3.2 Homing...................................................................................................................................................................................................3-9
3.2.1 Homing...............................................................................................................................................................................................................................................3-9
3.1.2 Homing............................................................................................................................................................................................................................................3-10
3.2 Type of Control Operation.............................................................................................................................................................. 3-22
3.2.1 Single-axis Position control...................................................................................................................................................................................................3-22
3.2.4 Specified Velocity Operation after Position Operation..........................................................................................................................................3-32
3.2.6Axis groups control....................................................................................................................................................................................................................3-37
3.2.8ARC Interpolation Control.....................................................................................................................................................................................................3-44
3.2.9Axis Control Buffer mode.......................................................................................................................................................................................................3-53
3.2 10Axis Group Control Buffer Mode and Transition Mode......................................................................................................................................3-56
3.2.11 Synchronous control..............................................................................................................................................................................................................3-59
3.2.12 Manual control..........................................................................................................................................................................................................................3-74
3.3 Other Functions................................................................................................................................................................................. 3-84
3.3.2Auxiliary Function of Control................................................................................................................................................................................................3-92
3.3.3 Data management function..................................................................................................................................................................................................3-99