LSIS XBM-DN16S User manual

Right choice for ultimate yield
LSIS strives to maximize customers' profit in gratitude of choosing us for your partner.
Programmable Logic Controller
XGB Built-in Positioning
User’s Manual

Read this manual carefully before
installing,
wiring, operating, servicing
or inspecting this equipment.

Keep this manual within easy reach
for quick reference.
XEC-DN20SU
XEC-DN30SU
XEC-DN40SU
XEC-DN60SU
XEC-DP20SU
XEC-DP30SU
XEC-DP40SU
XEC-DP60SU
XEC-DN32H
XEC-DN64H
XEC-DP32H
XEC-DP64H
XGT Series
http://eng.lsis.biz
XBM-DN16S
XBM-DN32S
XBC-DN20S(U)
XBC-DN30S(U)
XBC-DN40SU
XBC-DN60SU
XBC-DP20SU
XBC-DP30SU
XBC-DP40SU
XBC-DP60SU
XBC-DN32H(/DC)
XBC-DN64H(/DC)

Safety Instruction
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 by using the product properly and safely.
► Precautious measures can be categorized as “Warning” and “Caution”, and
each of the meanings is as follows.
This symbol indicates the possibility of serious injury
or death if some applicable instruction is violated
This symbol indicates the possibility of severe or
slight injury, and damages in products if some
applicable instruction is violated
Moreover, even classified events under its caution category may develop into
serious accidents relying on situations. Therefore we strongly advise users to
observe all precautions properly just like warnings.
► The marks displayed on the product and in the user’s manual have the
following meanings.
Be careful! Danger may be expected.
Be careful! Electric shock may occur.
After reading this user’s manual, it should be stored in a place that is visible
to product users.
Warning
Caution

Safety Instruction
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.
- If any system error (watch-dog timer error, module installation error,
etc.) is detected 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
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, it may cause
abnormal output or operation due to noise.
Caution
 Use PLC only in the environment specified in PLC manual or
general standard of data sheet. If not, electric shock, fire, abnormal
operation of the product or 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, also unusual contact with cable is may
cause abnormal operation due to poor contact.
If lots of vibration is expected in the installation environment,
don’t let PLC directly vibrated. Electric shock, fire or abnormal
operation may be caused.
Don’t let any metallic foreign materials inside the product, which
may cause electric shock, fire or abnormal operation..
Caution

Safety Instruction
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 PLC system is powered on, be sure that all the covers of
the terminal are securely closed. If not, electric shock may be caused
Warning
 Let the wiring installed correctly after checking the voltage rated
of each product 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. And if the screws of terminals too tighten, it
may cause dropping of product, short circuit, or abnormal operation
may be caused due to damage of screw or module.
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.
 Connector of extension connection is using designated tools pressing
or properly soldering.
Caution

Safety Instruction
Safety Instructions for test-operation or repair
 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.
 Please connect the battery accurately and 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.
Before use edit function during operate, make sure to carefully read and
understand the User’s Manual. If not, it may be caused damage to the
product or accident due to disoperation.
Do not drop and give an impact to battery. It may be caused leak of liquid
of inside battery due to damage the battery. Do not use any battery
that had been fell on the floor or had been shocked. Also let skilled
worker take in charge of the operation of changing battery.
Caution

Safety Instruction
Safety Instructions for waste disposal
 Product or battery waste shall be processed as industrial waste.
The waste may discharge toxic materials or explode itself.
Caution

Revision History
Version Date Remark Page
V 1.0 2008.1 1. Positioning first edition according to XGB user manual
separation
2. Adding contents
(1) IO wiring method through smart link board
(2) Positioning function list
(3) How to check the positioning
(4) Positioning monitoring package
(5) Positioning trouble shooting method
3. Modifying contents
(1) IO signal allocation
(2) Positioning parameter setting method
(3) Positioning instruction contents
(4) Modifying safety precaution for safety
1-8
3-1
3-26
6-1
8-1
1-6
4-1
5-1
-
V1.1 2008.3 1. Adding type and function according to developing XGB
compact type basic unit (XBC-DxxxH)
-
V1.2 2009.8 1. Adding type and function according to developing XGB
compact type basic unit (XEC-DxxxH)
(1) Adding description on positioning flag
(2) Adding description on positioning instruction
(3) Adding Positioning program example
-
V1.4 2011.6 1. Adding type and function according to developing XGB
compact type basic unit (XBC-DxxxS(U))
-
V1.5 2013.7 1. Adding Motor Wiring Examples(XGT-Servo:XDL-S)
2. Adding Modules(XB(E)C-DPxxSU)
3. Adding PWM instruction
APP3-6, 7
1-9,10
2-2,3
5-47,95
-
※The number of User’s manual is indicated right part of the back cover.
ⓒ2008 LSIS Co.,Ltd.All Rights Reserved.

About User’s Manual
About User’s Manual
Thank you for purchasing PLC of LSIS.,Ltd.
Before use, make sure to carefully read and understand the User’s Manual about the functions,
performances, installation and programming of the product you purchased in order for correct use and
importantly, let the end user and maintenance administrator to be provided with the User’s Manual.
The User’s Manual describes the product. If necessary, you may refer to the following description and order
accordingly. In addition, you may connect our website(http://eng.lsis.biz/) and download the information as a
PDF file.
Relevant User’s Manuals
Title
Description
No. of User’s
Manual
XG5000 user’s
manual
(for XGK/XGB)
It describes how to use XG5000 software about online functions
such as programming, printing, monitoring and debugging when
using XGB series products.
10310000512
XG5000 user’s
manual
(for XGI/XGR/XEC)
It describes how to use XG5000 software about online functions
such as programming, printing, monitoring and debugging when
using XGB (IEC language) series products
10310000834
XGK/XGKB
Instructions &
Programming
It is the user’s manual for programming to explain how to use
instructions that are used PLC system with XGB CPU.
10310000510
XGI/XGR/XEC
Instructions &
Programming
It is the user’s manual for programming to explain how to use
instructions that are used in XGB (IEC language) CPU
10310000833
XGB hardware
It describes power, IO, extension specification and system
configuration, built-in high speed counter of XGB main unit.
10310000693
XGB hardware (IEC)
It describes power, IO, extension specification and system
configuration, built-in high speed counter of XGB (IEC) main unit.
10310000983
XGB Analog
user’s manual
It describes how to use the analog input, analog output,
temperature input module, system configuration and built-in PID
control for XGB basic unit.
10310000920
XGB Cnet I/F
It is the user’s manual about XGB Cnet I/F that describes built-in
communication function and external Cnet I/F module of XGB
basic unit
10310000816
XGB FEnet I/F
It describes how to use XGB FEnet I/F module.
10310000873

◎
Contents
◎
Chapter 1 General
...............................................
1-1~1-11
1.1 General..........................................................................................................................1-1
1.1.1 Purpose of position function...................................................................................1-1
1.1.2 Features ................................................................................................................1-2
1.2 Performance specifications ............................................................................................1-3
1.2.1 Performance specifications of XGB built-in positioning .........................................1-3
1.3 Operation Sequence of Positioning................................................................................1-4
1.3.1 Operation Sequence of Positioning........................................................................1-4
1.3.2 Flow of position signal............................................................................................1-5
1.4 IO Signal Allocation........................................................................................................1-6
1.4.1 Allocation of standard type (S type) I/O(input) signal..............................................1-6
1.4.2 Allocation of standard type (S type) output signal...................................................1-7
1.4.3 Allocation of high-end type (H type) input signal.....................................................1-8
1.4.4 Allocation of high-end type (H type) output signal...................................................1-9
1.5 I/O wiring by using Smart Link Board ...........................................................................1-10
1.5.1 Smart link board ...............................................................................................1-10
Chapter 2 General Specification
.....................................
2-1~2-7
2.1 General Specification ...................................................................................................2-1
2.2 Power Specification........................................................................................................2-2
2.2.1 Standard type(XBM-DN□□S) power specification...................................................2-2
2.2.2 High-end type (XBC-DN□□H) power specification..................................................2-2
2.3 I/O specification..............................................................................................................2-3
2.3.1 Input Specification..................................................................................................2-3
2.3.2 Output specification ...............................................................................................2-5
2.3.3 Output pulse level ................................................................................................2-7

Chapter 3 Before Positioning .......................................................................3-1~3-58
3.1 Positioning Function.......................................................................................................3-1
3.1.1 Positioning function list...........................................................................................3-1
3.1.2 Position control .....................................................................................................3-4
3.1.3 Speed control.........................................................................................................3-5
3.1.4 Speed/position switching control............................................................................3-7
3.1.5 Position/speed switching control............................................................................3-8
3.1.6 Linear interpolation control.....................................................................................3-9
3.1.7 Simultaneous start control....................................................................................3-12
3.1.8 Synchronized control ...........................................................................................3-13
3.1.9 Homing ................................................................................................................3-14
3.1.10 Position and speed override...............................................................................3-19
3.1.11 Positioning stop signal........................................................................................3-21
3.1.12 Manual operation...............................................................................................3-23
3.1.13 Stroke Upper/Lower Limits ..............................................................................3-24
3.1.14 Output of positioning completion signal..............................................................3-25
3.2 Positioning Parameter..................................................................................................3-26
3.2.1 Positioning parameter setting sequence ..............................................................3-26
3.2.2 Relationship between positioning parameter and dedicated K area .....................3-30
3.2.3 Setting basic positioning parameters....................................................................3-31
3.2.4 Origin/Manual Parameter Setting for Positioning..................................................3-38
3.3 Positioning Operation Data...........................................................................................3-41
3.4 Positioning Status Monitoring and Area K for Input and Output ....................................3-49
3.4.1 Status Monitoring and Flag for Positioning...........................................................3-49
3.4.2 Flag for Positioning Instruction and Command.....................................................3-51
Chapter 4 Positioning Check..........................................................................4-1~4-4
4.1 The Sequence of Positioning Check...............................................................................4-1
4.2 Making of Operation Check Program ........................................................................... 4-3

Chapter 5 Positioning Instructions ..............................................................5-1~5-92
5.1 Positioning Instruction Alarm..........................................................................................5-1
5.2 Details of Positioning Instructions...................................................................................5-3
5.2.1 Origin Return Instructions ......................................................................................5-3
5.2.2 Fixed Origin Setting Instruction..............................................................................5-7
5.2.3 Direct Starting Instruction.......................................................................................5-9
5.2.4 Indirect Starting Instruction .................................................................................5-12
5.2.5 Straight Interpolation Starting Instruction..............................................................5-15
5.2.6 Simultaneous Starting Instruction.........................................................................5-18
5.2.7 Speed Position Switching Instruction ................................................................5-20
5.2.8 Position Speed Switching Instruction....................................................................5-22
5.2.9 Deceleration Stop Instruction ............................................................................5-24
5.2.10 Position synchronous Instruction........................................................................5-26
5.2.11 Speed Synchronous Instruction..........................................................................5-29
5.2.12 Position Override Instruction..............................................................................5-32
5.2.13 Speed Override Instruction.................................................................................5-34
5.2.14 Positioning Speed Override Instruction ..............................................................5-36
5.2.15 Inching Starting Instruction.................................................................................5-38
5.2.16 Starting Step Number Change Instruction ..........................................................5-39
5.2.17 M Code Cancel Instruction ...............................................................................5-40
5.2.18 Current Position Preset Instruction.....................................................................5-41
5.2.19 Emergency Stop Instruction ...............................................................................5-42
5.2.20 Error Reset, Output Inhibition, Inhibition Termination..........................................5-43
5.2.21 Parameter/Operation Data Save........................................................................5-45
5.2.22 Pulse width Modulation ......................................................................................5-47
5.3 Positioning Function Blocks (for XEC)..........................................................................5-49
5.3.1 General for Function Block...................................................................................5-49
5.3.2 Function Block for Return to Origin ......................................................................5-50
5.3.3 Function Block for Floating Origin Setting............................................................5-53
5.3.4 Direct Start-up Function Block..............................................................................5-55
5.3.5 Indirect Start-up Function Block ...........................................................................5-58
5.3.6 Linear Interpolation Start-up Function Block.........................................................5-61
5.3.7 Simultaneous Start-up Function Block ................................................................5-64
5.3.8 Velocity to Position Transfer Function Block.........................................................5-66
5.3.9 Position Velocity Transfer Function Block.............................................................5-68

5.3.10 Deceleration Stop Function Block ......................................................................5-70
5.3.11 Position Synchronization Function Block............................................................5-73
5.3.12 Speed Synchronization Function Block..............................................................5-77
5.3.13 Position Override Function Block .......................................................................5-80
5.3.14 Speed Override Function Block..........................................................................5-82
5.3.15 Positioning Speed Override Function Block........................................................5-84
5.3.16 Inching Start Function Block...............................................................................5-86
5.3.17 Start Step Number Change Function Block........................................................5-87
5.3.18 M Code Release Function Block........................................................................5-88
5.3.19 Present Position Preset Function Block .............................................................5-89
5.3.20 Emergency Stop Function Block ........................................................................5-90
5.3.21 Error Reset, Output Cut-off Release Function Block ..........................................5-91
5.3.22 Parameter/Operation Data Write Function Block................................................5-93
5.3.23 Pulse width Modulation ......................................................................................5-95
Chapter 6 Positioning Monitoring Package...................................................6-1~6-9
6.1 Introduction to Positioning Monitoring Package..............................................................6-1
6.1.1 Introduction of Positioning Monitoring Package......................................................6-1
6.2 Menus and Functions of Positioning Monitoring .............................................................6-3
6.2.1 Monitoring and Command......................................................................................6-3
6.3 Parameter/Operation Data Setting Using Monitoring Package.......................................6-8
6.3.1 Changing the Position Parameter ..........................................................................6-8
6.3.2 Change of Position Operation Data........................................................................6-9
Chapter 7 Program Examples of Positioning..............................................7-1~7-38
7.1 System Composition and Setting of Input and Output ....................................................7-1
7.2 Program Examples.........................................................................................................7-3
7.2.1 Floating Origin Setting/Single Operation ..............................................................7-3
7.2.2 Straight Interpolation Operation............................................................................7-5
7.2.3 Deceleration Stop.................................................................................................7-8
7.2.4 Setting of Operation Step/Single Operation........................................................7-10
7.2.5 Setting of Operation Step/Speed Control............................................................7-12

7.2.6 Simultaneous Start.............................................................................................7-15
7.2.7 Position Synchronous Start ................................................................................7-17
7.2.8 Speed Synchronous Start...................................................................................7-20
7.2.9 Emergency Stop.................................................................................................7-23
7.2.10 Jog Operation ...............................................................................................7-25
7.2.11 Speed Override ................................................................................................7-27
7.2.12 Position Override..............................................................................................7-29
7.2.13 Speed override with Position............................................................................7-32
7.2.14 Speed, Position, and Parameter Teaching........................................................7-34
Chapter 8 Troubleshooting Procedure ..........................................................8-1~8-6
8.1 Basic Procedure of Troubleshooting...............................................................................8-1
8.2 Check by Using the LED................................................................................................8-2
8.2.1 LED Check...........................................................................................................8-2
8.3 Check by Error Code......................................................................................................8-5
8.3.1 How to Check Error Codes...................................................................................8-5
8.4 Check of Motor Failures.................................................................................................8-6
8.4.1 If the Motor Doesn’t Work.....................................................................................8-6
Appendix 1 List of Error Codes......................................................APP.1-1~APP.1-7
APP.1.1 List of PLC Error Codes..................................................................................APP.1-1
APP.1.2 List of Positioning Error Codes .......................................................................APP.1-2

Appendix 2 Positioning Instruction and K area List...................APP.2-1~APP.2-43
APP 2.1 Positioning instruction list...............................................................................APP.2-1
APP 2.2 Positioning Dedicated K area List...................................................................APP.2-2
APP 2.2.1 K area of positioning basic parameter.................................................APP.2-2
APP 2.2.2 K area of positioning home parameter................................................APP.2-3
APP 2.2.3 Positioning operation data K area.......................................................APP.2-4
Appendix 3 Motor Wiring Example...............................................APP.3-1~APP.3-35
APP.3.1 Stepping Motor Wiring Example......................................................................APP.3-1
APP.3.2 Servo Motor Wiring Example..........................................................................APP.3-2
Appendix 4 Dimension................................................................................APP.4-1~APP.4-7

Chapter 1 General
1-1
Chapter 1 General
XGB series transistor output type contains 2 positioning axes. This manual describes the specifications and
usage of positioning.
1.1.1 Purpose of position function
The purpose of position function is to exactly move an object from the current position to a designated
position and this function executes highly precise position control by sending a position pulse string
signal to types of servo drive or stepping motor control drive. For applications, it may be widely used;
for instance, machine tools, semiconductor assembling machine, grinder, small machine center, lifter
and etc.
<XGB positioning function general >
<Positioning system inner block diagram >
1.1 General

Chapter 1 General
1-2
1.1.2 Features
Positioning function features the followings.
(1) Max. two axis, 100kpps positioning
- XGB PLC can execute positioning of up to 2 axes with up to 100kpps.
(2) Diversity of positioning function
- XGB PLC contains various functions necessary for position system such as position control at any
temporary position or constant speed operation.
(a) Operation data containing position address, operation method and operation pattern may be set
up to 80 steps per axis (based on “H” type). It executes position function by using this operation
data.
(b) Linear control is available by using each operation data
- The control can also perform single position control by one operation data and continuous
position control by several operation data
(c) linear interpolation control is available.
(d) According to operation data and control types designated by parameters, position control, speed
control, position/speed switching control and position/speed switching control are available
(e) It also provides various home return functions.
1) Home return can be chosen among the following three.
▪Origin detection after DOG Off
▪When DOG On, Origin detection after deceleration
▪Origin detection by DOG
2) temporary position can be set as machine’s origin by using floating origin setting function.
(3) Easy maintenance
- It saves data such as position data and parameter into flash memory of main unit permanently.
- The modified data during positioning can be preserved in the flash memory by application
instruction (WRT/APM_WRT instruction).
(4) XG5000 can perform self-diagnosis, monitor and test.
(a) Diagnosing of I/O signal line.
(b) It can test all functions of built-in positioning or check the current operation status without
program through special module monitoring
(c) It is easy to take action because the user can check error by error occurrence flag (Ch0:
K4201, ,%KX6721 Ch1: K4301, %KX6881) and error code (Ch0: K427, %KW427 Ch1:
K437, %KW437) easily.
XGB positioning system Reference
•For parameter setting, refer to Ch3.2 and
for operation data setting, refer to Ch3.3.
•For instruction of positioning, refer to Ch5.
•For I/O signal, refer to Ch1.4.

Chapter 1 General
1-3
1.2.1
Performance specifications of XGB built-in positioning
The performance specifications of positioning function are as follows.
Here standard type indicates XBM-DN□□S/ XBC-DN
□□ S(U) and high end type indicate XBC(XEC)-DN□□H.
Each type is indicated as ‘S’ type and ‘H’ type.
Type
Item XGB Basic Unit (Transistor output )
Standard type (“S” type) High-end type (“H” type)
No. of control axis
2 axes
Interpolation
2 axes linear interpolation
Pulse output method
Open collector (DC 24V)
Pulse output type Pulse + Direction Pulse + Direction
CW/CCW output
Control type
Position control, speed control, speed/position switching, position/speed
switching
Control unit Pulse
Position data
30 data areas per axis
(operation step no. 1 ∼30)
* XBC-DN□□S(U) supports 80
data areas per axis
80 data areas per axis
(operation step no. 1 ~ 80)
Setting
method
Setting through Embedded parameter of XG5000 
permanent
auto-preservation
Setting through dedicated monitoring package perman
ent
preservation by PADT instruction
Setting through K area dedicated for positioning
permanent preservation by application instruction
(WRT/APM_WRT instruction)
Positioning monitor Special module monitoring of XG5000 / monitoring by K area
Back-up
Parameter, operation data Flash memory
K area RAM (super capacitor back up for S type/ battery back up for H type)
(Saving them in the flash memory is available by application
instruction(WRT/APM_WRT))
Position
Position method
Absolute method / Incremental method
Position address
range
-2,147,483,648 ∼2,147,483,647(Pulse)
Speed range 1 ∼100,000pps(1pps unit)
Acc/dec processing Trapezoid-shaped
Acc/dec time 1 ∼10,000 ㎳(selectable from 4 types of acc/dec patterns)
Max. output pulse 100 kpps
Max. connection distance
2 m
< Performance specifications >
1.2 Performance specifications

Chapter 1 General
1-4
1.3 Operation Sequence of Positioning
1.3.1
Operation Sequence of Positioning
Operation sequence is as follows.
XBM-DN**S:V1.2 or above
XBC-DN**H: V2.2 or above
XEC-DN**H: V3.0 or above

Chapter 1 General
1-5
1.3.2
Flow of position signal
Flow of position signal is as follows.
< XGB Positioning signal flow >