LSIS XGT Series User manual

Programmable Logic Controller
XGB Positioning Module
XBF-PD02A
XGT Series

Safety Instruction
Before using the product …
For your safetyandeffective operation,please read thesafetyinstructionsthoroughlybefore usingthe product.
►Safety Instructions should always be observed in order to prevent accident or risk with the safe and
proper use the product.
►Instructionsare divided into“Warning”and “Caution”, and the meaningof the terms is as follows.
This symbol indicates the possibility of serious injury or death if some applicable
instructionisviolated
This symbol indicates the possibility of severe or slight injury, and property
damages if someapplicableinstructionisviolated
Moreover, even classified events under its caution category may develop into serious accidents relying on
situations. Therefore we stronglyadvise users toobserve all precautionsproperlyjust like warnings.
►The marks displayed on the product and in the user’s manual have the followingmeanings.
Becareful! Danger maybeexpected.
Becareful! Electricshockmayoccur.
►The user’s manual even after read shall be keptavailableandaccessibleto
any user of the product.
Warning
Caution

Safety Instruction
Safety Instructions for design process
Please install a protection circuit on the exterior of PLC so that the whole system may
operate safely regardless of failures from external power or PLC. Any abnormal output or
operationfromPLCmaycause seriousproblems to safetyinwhole system.
- Install protection units on the exterior of PLC like an interlock circuit that deals with opposite
operations such as emergencystop, protection circuit, and forward/reverse rotation orinstall an
interlockcircuit thatdeals with high/lowlimit underitsposition controls.
- If any system error (watch-dog timer error, module installation error, etc.) is detected during
CPU operation in PLC, all output signals are designed to be turned off and stopped for safety.
However, there arecaseswhen outputsignals remainactive dueto devicefailures in Relayand
TR which can’t be detected. Thus, you are recommended to install an addition circuit to monitor
the output statusforthose critical outputswhichmaycausesignificantproblems.
Never overload more than rated current of output module nor allow to have a short circuit.
Over currentforalongperiodtimemaycause afire.
Never let the external power of the output circuit to be on earlier than PLC power, which may
causeaccidentsfrom abnormaloutput oroperation.
Please install interlock circuits in the sequence program for safe operations in the system
when exchange data with PLC or modify operation modes using a computer or other
external equipments Read specific instructions thoroughly when conducting control operations
with PLC.
Warning

Safety Instruction
Safety Instructions for design process
Safety Instructions on installation process
I/O signal or communication line shall be wired at least 100mm away from a high-voltage
cable or power line. Failtofollowthis
instructionmaycausemalfunctionsfrom noise
Caution
Use PLC only in the environment specified in PLC manual or general standard of data
sheet. Ifnot,electric shock,fire,abnormaloperation oftheproductmaybecaused.
Before install or remove the module, be sure PLC power is off. If not, electric shock ordamage
on the productmaybecaused.
Be sure that every module is securely attached after adding a module or an extension
connector. If the product is installed loosely or incorrectly, abnormal operation, error or dropping
may be caused. In addition, contact failures under poor cable installation will be causing
malfunctionsas well.
Be sure that screws get tighten securely under vibrating environments. Fail to do so will put
the productunderdirectvibrationswhich will causeelectricshock,fireandabnormal operation.
Do not come in contact with conducting parts in each module, which may cause electric
shock,malfunctionsorabnormaloperation.
Caution

Safety Instruction
Safety Instructions for wiring process
Prior to wiring works, make sure that every power is turned off. If not, electric shock or
damageontheproduct maybe caused.
After wiring process is done, make sure thatterminal covers are installedproperlybefore
its use.Failtoinstallthecovermaycauseelectricshocks.
Warning
Check rated voltages and terminal arrangements in each product prior to its wiring
process. Applying incorrect voltages other than rated voltages and misarrangement among
terminalsmaycausefire or malfunctions.
Secure terminal screws tightly applying with specified torque. If the screws get loose, short
circuit, fire or abnormal operation may be caused. Securing screws too tightly will cause
damages to the moduleormalfunctions,shortcircuit,anddropping.
Be sure to earth to the ground using Class 3 wires for FG terminals which is exclusively
used for PLC. If the terminals not grounded correctly, abnormal operation or electric shock
may be caused.
Don’t let any foreign materials such as wiring waste inside the module while wiring,
which maycausefire,damage on the productorabnormaloperation.
Make sure that pressed terminals get tighten following the specified torque. External
connector type shall be pressed or soldered using proper equipments.
Caution

Safety Instruction
Safety Instructions for test-operation and maintenance
Don’ttouch the terminal when powered. Electricshockorabnormaloperationmayoccur.
Prior to cleaning or tightening the terminal screws, let all the external power off including
PLC power. If not,electricshock orabnormal operationmayoccur.
Don’t let the battery recharged, disassembled, heated, short or soldered. Heat, explosion
orignitionmaycauseinjuriesorfire.
Warning
Do not make modifications or disassemble each module. Fire, electric shock or abnormal
operationmayoccur.
Prior to installing or disassembling the module, let all the external power off including
PLC power. If not,electricshock orabnormal operation mayoccur.
Keep any wireless equipment such as walkie-talkie or cell phones at least 30cm away
from PLC.If not,abnormal operation maybe caused.
When making a modification on programs or using run to modify functions under PLC
operations, read and comprehend all contents in the manual fully. Mismanagement will
causedamagestoproductsandaccidents.
Avoid any physical impact to the battery and prevent it from dropping as well. Damages
to battery may cause leakage from its fluid. When battery was dropped or exposed under strong
impact, never reuse the battery again. Moreover skilled workers are needed when exchanging
batteries.
Caution

Safety Instruction
Safety Instructions for waste disposal
Product or batterywaste shall be processed as industrial waste. The waste may discharge
toxicmaterialsorexplode itself.
Caution

Revision History
Revision History
Version Date Remark Page
V 1.0
’10. 1
1. First Edition
-
V1.1 ’11. 4 1. Smart Link →I/O Link Revision
2. XEC Type Address Addtion.
2-7
5-8, 9-63
V1.2 ’13.10
1. Clear deviation counter Addtion
2. Mitsubishi Servo driver MR-J3 Wiring Method Added
3. Encoder Preset(EPRS) setting Method Added
4. Teaching Array(TWR) Exam Program Added
5. Operation State Reading(SRD) Device Revision
6. Positioning System Current consumption Added
2-6
3-5
6-24
6-28
6-39
Appendix 2
V1.3 ’14. 4 1. Added to the deviation counter clear starting point 2-6
※The number of User’s manual is indicated right part of the back cover.
ⓒLSIS Co.,Ltd.2010 All Rights Reserved.

About User’s Manual
About User’s Manual
Thank you for purchasing PLC of LSIS Co.,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 XGI/XGR/XEC)
It describes how to use XG5000 software, especially about
online functions such as programming, printing, monitoring
and debugging by using XGB PLC.
10310000821
XG5000 User’s Manual
(For XGK/XGB)
10310000834
XGK/XGB
Instructions & Programming
User’s Manual
It is the user’s manual for programming to explain how to
use commands that are used in PLC system with XGB main
unit.
10310000833
XGI/XGR/XEC
Instructions & Programming
User’s Manual
It is the user’s manual for programming to explain how to
use commands that are used PLC system with XGB IEC
main unit.
10310000833
XGB Hardware
User’s Manual
It describes how to use the specification of power/input
/output/expansion modules, system configuration and built-
in High-speed counter for XGB main unit.
10310000926
XGB IEC Hardware
User’s Manual
It describes how to use the specification of power/input
/output/expansion modules, system configuration and built-
in High-speed counter for XGB IEC main unit.
10310000983

◎
Contents
◎
Chapter 1 Overview ............................................................................. 1-1~1-9
1.1 Characteristics.......................................................................................................1-1
1.2 Purpose of Positioning Control...............................................................................1-2
1.3
Signal Flow of Positioning Module .........................................................................1-3
1.3.1 Operating sequence...................................................................................................1-3
1.3.2
Flow of position signal................................................................................................1-4
1.4Function overview of positioning module ...............................................................1-5
1.4.1 Position Control..........................................................................................................1-5
1.4.2 Interpolation Control...................................................................................................1-6
1.4.3 Speed Control.............................................................................................................1-9
Chapter 2 Specifications..........................................................................2-1~2-9
2.1 General Specifications...........................................................................................2-1
2.2
Performance Specifications ...................................................................................2-2
2.2.1 Function Specifications...............................................................................................2-2
2.3 External I/O Interface Specifications ......................................................................2-3
2.3.1 Input Specifications.....................................................................................................2-3
2.3.2
Output Specifications..................................................................................................2-4
2.3.3 Specifications on Interface with External Equipment .................................................2-5
2.4 The Name of Each Part .........................................................................................2-8
2.4.1 The name of each part ...............................................................................................2-8
2.5 Connection to XGT Servo System .........................................................................2-9
Chapter 3 Operation Order and Installation................................................ 3-14
3.1 Installation .............................................................................................................3-1
3.1.1 Installation Environment.............................................................................................3-1
3.1.2 Notices in Handling ....................................................................................................3-1
3.2Notices in Wiring....................................................................................................3-2
3.2.1 Notices in Wiring ........................................................................................................3-2
3.2.2 Connection Example of Servo and Stepping Motor Drive Machine...........................3-3

3.2.3 Encoder Input (DC 5V Voltage Output) Wiring Example..........................................3-13
3.2.4 Encoder Input (5V Line Driver Output) Wiring Example ..........................................3-14
Chapter 4 Positioning Parameter & Operation Data............................4-1~4-24
4.1 Parameter & Operation data..................................................................................4-1
4.2 Basic Parameter....................................................................................................4-2
4.2.1 Basic parameter .........................................................................................................4-2
4.2.2 Basic parameter setting..............................................................................................4-3
4.3 Home/Manual parameter .....................................................................................4-13
4.3.1 Contents of Home/Manual parameter......................................................................4-13
4.3.2 Home/Manual parameter setting..............................................................................4-13
4.4 Common Parameter.............................................................................................4-16
4.4.1 Common parameter .................................................................................................4-16
4.4.2 Common Parameter Setting.....................................................................................4-16
4.5 I/O Signal Parameter ...........................................................................................4-19
4.5.1 I/O Signal Parameter................................................................................................4-19
4.5.2 Setting of I/O Signal Parameter ...............................................................................4-19
4.6 Operation Data.....................................................................................................4-20
4.6.1 Operation Data.........................................................................................................4-20
4.6.2 Operation Data Setting.............................................................................................4-20
Chapter 5 Program Configuration and Operation Method..................5-1~5-10
5.1 Internal Memory.....................................................................................................5-1
5.1.1 Teaching Data ............................................................................................................5-1
5.1.2 State Information........................................................................................................5-3
5.2 I/O Signal...............................................................................................................5-8
5.2.1 Contents of I/O Signal................................................................................................5-8
5.2.2 Use of I/O Signal........................................................................................................5-9
Chapter 6 Command..............................................................................6-1~6-39
6.1 Contents of General Command..............................................................................6-1
6.1.1 Internal Memory Read................................................................................................6-1
6.1.2
Internal Memory Write................................................................................................6-2

6.2 Dedicated Commands ...........................................................................................6-3
6.3
Use of Dedicated Command..................................................................................6-4
6.3.1 Homing start...............................................................................................................6-4
6.3.2 Floating origin setting (Command : FLT)....................................................................6-5
6.3.3
Direct start (Command : DST)....................................................................................6-6
6.3.4
Indirect start (Command : IST) ........................................................................................6-7
6.3.5 Linear Interpolation (Command: LIN).........................................................................6-8
6.3.6 Circular Interpolation (Command: CIN)......................................................................6-9
6.3.7
Simultaneous Start (Command : SST).....................................................................6-10
6.3.8
Speed/Position Switching Control (Command : VTP)..............................................6-11
6.3.9
Position/Speed Switching Control (Command : PTV)..............................................6-12
6.3.10
Deceleration Stop (Command : STP).....................................................................6-13
6.3.11
Synchronous Start by Position (Command : SSP).................................................6-14
6.3.12
Synchronous Start by Speed (Command : SSS) ...................................................6-15
6.3.13
Position Override (Command : POR).....................................................................6-16
6.3.14
Speed Override (Command : SOR).......................................................................6-17
6.3.15
Position Assigned Speed Override (Command : PSO)..........................................6-18
6.3.16
Inching Operation (Command : INCH)...................................................................6-19
6.3.17
Start Step No. Change (Command : SNS).............................................................6-20
6.3.18
Repeat Step No. Change (Command : SRS) ........................................................6-21
6.3.19
M code Release (Command : MOF)......................................................................6-22
6.3.20
Current Position Preset (Command : PRS) ...........................................................6-23
6.3.21
Encoder Preset (Command : EPRS) .....................................................................6-24
6.3.22 Single Teaching (Command: TEA).........................................................................6-25
6.3.23 Teaching Array(Command : TEAA) .............................................................................6-26
6.3.24
Teaching Array Data Setting (Command: TWR)....................................................6-27
6.3.25
Basic Parameter Teaching (Command : TBP).......................................................6-29
6.3.26
Homing/Manual Parameter Teaching (Command : THP) ......................................6-31
6.3.27
I/O Signal Parameter Teaching (Command : TSP)................................................6-33
6.3.28
Common Parameter Teaching (Command : TCP).................................................6-34
6.3.29
Operation Data Teaching (Command: TMD)..........................................................6-35
6.3.30
Parameter/Operation Data Save (Command : WRT) ............................................6-37
6.3.31
Emergency Stop (Command : EMG) .....................................................................6-38
6.3.32
Error Reset (Command : CLR) ..............................................................................6-38
6.3.33
Operation State Reading (Command: SRD)..........................................................6-39
Chapter 7 Function Block......................................................................7-1~7-37

7.1 Common Issues of Function Block.........................................................................7-1
7.2 Function Block of Positioning Module ....................................................................7-2
7.3 Function Block related to Module Information Read...............................................7-3
7.3.1 Operation Information Read (APM_CRD) .................................................................7-3
7.3.2 Operation State Bit Information Read (APM_SRD)...................................................7-4
7.3.3 Encoder Value Read (APM_ENCRD)........................................................................7-6
7.4Parameter/Operation Data Teaching Function Block..............................................7-7
7.4.1 Basic Parameter Teaching (APM_SBP) ...................................................................7-7
7.4.2 Homing/Manual Parameter Teaching (APM_SHP)....................................................7-8
7.4.3 I/O Signal Parameter Teaching (APM_SIP)...............................................................7-9
7.4.4Common Parameter Teaching (APM_SCP) ............................................................7-10
7.4.5Operation Data Teaching (APM_SMD)....................................................................7-11
7.4.6Single Teaching (APM_TEA)...................................................................................7-12
7.4.7Teaching Array (APM_ATEA)...................................................................................7-13
7.4.8Saving Parameter/Operation Data (APM_WRT) .....................................................7-14
7.5 Start/Stop Function Block.....................................................................................7-15
7.5.1 Homing Start (APM_ORG).......................................................................................7-15
7.5.2 Direct Start (APM_DST)...........................................................................................7-16
7.5.3 Indirect Start (APM_IST)..........................................................................................7-17
7.5.4 Linear Interpolation (APM_LIN) ...............................................................................7-18
7.5.5 Circular interpolation (APM_CIN).............................................................................7-19
7.5.6Simultaneous Start (APM_SST)...............................................................................7-20
7.5.7Deceleration Stop (APM_STP) ................................................................................7-21
7.5.8Emergency Stop (APM_EMG).................................................................................7-22
7.6Manual Operation Function Block........................................................................7-23
7.6.1 Inching Operation (APM_INC).................................................................................7-23
7.7Synchronization Start Function Blocks.................................................................7-24
7.7.1 Position Synchronization (APM_SSP).....................................................................7-24
7.7.2 Speed Synchronization (APM_SSS)........................................................................7-25
7.8Modification Function Block.................................................................................7-26
7.8.1 Position Override (APM_POR) ................................................................................7-26
7.8.2 Speed Override (APM_SOR)...................................................................................7-27
7.8.3 Position Assigned Speed Override (APM_PSO)......................................................7-28
7.8.4 Position/Speed Switching Control (APM_PTV)........................................................7-29
7.8.5 Speed/Position Switching Control (APM_VTP)........................................................7-30
7.8.6 Start Step Number Change (APM_SNS) .................................................................7-31
7.8.7 Repeat Step No. Change (APM_SRS) ....................................................................7-32

7.8.8 Current Position Change (APM_PRS).....................................................................7-33
7.8.9 Encoder Value Preset (APM_EPRE).......................................................................7-34
7.9Error Function blocks...........................................................................................7-35
7.9.1 Error Reset (APM_RST) ..........................................................................................7-35
7.10 Other Function Blocks .......................................................................................7-36
7.10.1 Floating Origin Setting (APM_FLT) ........................................................................7-36
7.10.2 M code Release (APM_MOF)................................................................................7-37
Chapter 8 Program.................................................................................8-1~8-91
8.1 Example of XBC Programming..............................................................................8-1
8.1.1 General description....................................................................................................8-1
8.1.2 Current State Read ....................................................................................................8-1
8.1.3
Operation Test............................................................................................................8-3
8.1.4
Parameter and Operation Data Setting......................................................................8-7
8.1.5
Positioning Operation...............................................................................................8-15
8.1.6
Operation Setting Change while Operating .............................................................8-26
8.1.7
Error .........................................................................................................................8-35
8.2Example of IEC type Programming......................................................................8-36
8.2.1 General description..................................................................................................8-36
8.2.2 Current State Read ..................................................................................................8-36
8.2.3
Operation Test..........................................................................................................8-41
8.2.4
Parameter and Operation Data Setting....................................................................8-47
8.2.5
Positioning Operation...............................................................................................8-56
8.2.6
Operation Setting Change while Operating .............................................................8-73
8.2.7
Error .........................................................................................................................8-90
Chapter 9 Functions ..............................................................................9-1~9-99
9.1 Homing..................................................................................................................9-1
9.1.1 Homing method..........................................................................................................9-1
9.1.2 Parameters for Homing..............................................................................................9-1
9.1.3Origin Detection after DOG Off..................................................................................9-2
9.1.4Origin Detection after Deceleration when DOG On...................................................9-4
9.1.5Origin Detection by DOG ...........................................................................................9-5
9.1.6Origin Detection by Origin and Upper/Lower Limit ....................................................9-6
9.1.7Origin Detection by Upper/Lower Limit......................................................................9-7

9.2 Positioning Control.................................................................................................9-8
9.2.1 Operation Data for Positioning Control ......................................................................9-9
9.2.2 Operation mode of Positioning Control....................................................................9-10
9.2.3Positioning Control...................................................................................................9-17
9.2.4Speed Control ..........................................................................................................9-19
9.2.5Linear Interpolation Control......................................................................................9-21
9.2.6Designate Midpoint of Circular Interpolation............................................................9-26
9.2.7Circular interpolation control of designating Center point........................................9-33
9.2.8Circular interpolation control with designated radius...............................................9-41
9.2.9Speed/Position Switching Control............................................................................9-49
9.2.10 Position/Speed Switching Control..........................................................................9-51
9.2.11 Start of Positioning .................................................................................................9-53
9.2.12 Positioning stop......................................................................................................9-55
9.3 Manual Operation Control....................................................................................9-61
9.3.1 Jog Operation...........................................................................................................9-61
9.3.2 Inching Operation.....................................................................................................9-65
9.4 Synchronous Control...........................................................................................9-67
9.4.1 Speed Synchronous Control....................................................................................9-67
9.4.2 Position synchronous control...................................................................................9-72
9.5 Modification Function of Control...........................................................................9-76
9.5.1 Floating Origin Setting .............................................................................................9-76
9.5.2 Position Override......................................................................................................9-77
9.5.3 Speed Override........................................................................................................9-80
9.5.4 Positioning Speed Override .....................................................................................9-82
9.5.5 Current Position Preset............................................................................................9-85
9.5.6 Encoder Preset ........................................................................................................9-86
9.5.7 Start Step no. Change..............................................................................................9-87
9.5.8 Repeat Operation Step no. Change.........................................................................9-88
9.6 Auxiliary Function of Control................................................................................9-90
9.6.1 Upper/Lower limit.....................................................................................................9-90
9.6.2 M code .....................................................................................................................9-92
9.7 Data Modification Function ..................................................................................9-94
9.7.1 Teaching Array .........................................................................................................9-94
9.7.2 Parameter Change from Program............................................................................9-95
9.7.3 Data Change from Program.....................................................................................9-99

Chapter 10 Positioning Monitoring Package ...................................10-1~10-10
10.1 Positioning Monitoring Package.........................................................................10-1
10.1.1 Introduction of Positioning Monitoring Package.....................................................10-1
10.2 Menus and Functions of Positioning Monitoring.................................................10-3
10.2.1 Monitoring and Command......................................................................................10-3
10.3 Parameter/Operation Data Setting Using Monitoring Package...........................10-9
10.3.1 Changing the Position Parameter..........................................................................10-9
10.3.2 Change of Position Operation Data.....................................................................10-10
Appendix 1 Positioning Error Information & Solutions........App.1-1~App.2-3
Appendix 1 Positioning Error Information & Solutions.............................................................App.1-1~App.1-8
Appendix 2 Positioning System Current consumption ............................................................App.2-1~App.2-3

Chapter 1 Overview
1-1
Chapter 1 Overview
This user’s manual describes the standard of positioning module, installation method, the method to use each positioning function,
programming and the wiring with external equipment.
1.1 Characteristics
The characteristics of positioning module are as follows.
(1)The positioning module is available for XGB Series. (It can be used with expansive memory XBM-Dx-xxS type.)
(2)Various positioning control function
It has various functions needed for positioning system such as positioning control, speed control etc.
(a) Up to 150 operation data including positioning address and operation method, operation pattern is available to set for each
axis.
With this operation data, positioning for each axis is carried out
(b) Various operations are available.
1) Position Control
2) Speed Control
3) Synchronous Control
4) Linear Interpolation
5) Circular Interpolation
(c) Switching Control in operation is available.
1) Position/Speed Control Switching
2) Speed/Position Control Switching.
(d) Various Homing Control Function.
1) 5 methods are available for Homing
a) The origin detection after DOG Off
b)The origin detection after deceleration in case of DOG On
c) The origin detection by DOG
d) The origin detection by DOG and upper-lower limit
e) The origin detection by upper-lower limit
2) Available to execute the positioning control (floating origin setting) from random position to the origin of machine
(3)Easy maintenance
Various data such as positioning data, parameter etc. are saved on flash memory in module. Therefore, data will be saved
forever (The frequency of writing is limited to 100,000)
(4)The number of positioning module using in one basic unit is not limited
(a) it is available to use within the range satisfied with the capacity of 5V source supply current of basic unit.
(b)
The mounting number of available current consumption of each module, please refer to Appendix 2.
(5)Self-diagnosis, monitoring, test by strong positioning software package is available.
(a) Monitoring (Module & External Input/output Signal) Function
(b) Reading and Saving Module Parameter/Operation Data
(c) Operation data edition of each axis is available in Excel program

Chapter 1 Overview
1-2
(6)Applicable XGB main unit and XG5000 version for positioning module
XGB basic unit
Version
XBM – Dx-xxS Ver 3.00 or upper
XBC-DxxS Ver 1.20 or upper
XBC-DxxSU Ver 1.30 or upper
XBC-DxxH Ver 1.80 or upper
XEC-DxxH Ver 1.20 or upper
XEC-DxxSU Ver 1.10 or upper
XG5000 Ver 3.10 or upper

Chapter 1 Overview
1-3
1.2 Purpose of Positioning Control
The purpose of positioning module is to transfer the moving objects (unprocessed items, tools etc.) with setting speed
from the current position and stop them on the setting position correctly. And it also controls the position of high
precision by positioning pulse string signal as it is connected to various servo driving devices or stepping motor control
driving devices. In application, it can be used widely with engineering machine, semiconductor assembly machine,
grinder, small machine center, lifter etc.
<XGB positioning function general >
<Positioning system inner block diagram >

Chapter 1 Overview
1-4
1.3 Signal Flow of Positioning Module
1.3.1 Operating sequence
The flow of PLC system using the positioning module is as follows.