LSIS XGT Series User manual

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Programmable Logic Controller
Standalone Motion Controller
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.
XMC-E32A
XGT Series
www.lsis.com

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 with the safe and
proper use the product.
►Instructions are divided into “Warning”and “Caution”, and the meaning of the terms is asfollows.
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 property
damages if some applicable instruction is violated.
Moreover, even classified events under its caution category may develop into serious accidents relying
on situations. Thereforewe 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 mayoccur.
►The user’s manual even after read shall be kept available and accessible to 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
operation from PLC may cause serious problems to safety in whole system.
- Install protection units on the exterior of PLC like an interlock circuit that deals with opposite
operations such as emergency stop, protection circuit, and forward/reverse rotation or install
an interlock circuit that deals with high/low limit under its position 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 are cases when output signals remain active due to device failures
in Relay and TR which can’t be detected. Thus, you are recommended to install an addition
circuit to monitor the output status for those critical outputs which may cause significant
problems.
Never overload more than rated current of output module nor allow to have a short
circuit. Over current for a long period time may cause a fire .
Never let the external power of the output circuit to be on earlier than PLC power, which
may cause accidents from abnormal output operation.
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
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.Fail to follow this.
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 productmay be caused.
Before install or remove the module, be sure PLC power is off. If not, electric shock or
damage on the product maybe caused.
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 malfunctions as well.
Be sure that screws get tighten securely under vibrating environments. Fail to do so will
put the product under direct vibrations which will cause electric shock, fire and abnormal
operation.
Do not come in contact with conducting parts in each module, which may cause electric
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
damage on the product maybe caused.
After wiring process is done, make sure that terminal covers are installed properly
before its use.Fail to install the cover may cause electric shocks.
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 terminals may cause fire 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 module or malfunctions, short circuit, and dropping.
Be sure to earth to the ground using Class 3 wires for PE 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 may cause fire, damage on the product or abnormal operation.
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’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 mayoccur.
Don’t let the battery recharged, disassembled, heated, short or soldered. Heat,
explosion or ignition may cause injuries or fire.
Warning
Do not make modifications or disassemble each 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 mayoccur.
Keep any wireless equipment such as walkie-talkie or cell phones at least 30cm away
from PLC. If not, abnormal operation may be 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 cause damages to products and accidents.
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 battery waste shall be processed as industrial waste. The waste may
discharge toxic materials or explode itself.
Caution

Revision History
Revision History
Version Date Remark Revised position
V 1.0 ’17.4 First Edition -
V 1.1 ’17.11
Added ‘speed unit’ and ‘filter time constant’ in encoder parameter
Added LS_ReadCamTableMasterPos function block
Added G-Code of ‘G21’
Added Acceleration/Constant speed/Deceleration Operation flags
Added appendix chapter of ‘Using EtherCAT slaves from other companies’
5-12, 18
6-141~142
9-12, 26
Appendix 1-6
Appendix 6
V1.2 ’18.6
Setting range of encoder position filter constant is corrected
5-12~13, 7-24
Added LS_OnOffCam function block
6-143~145
Added LS_RotaryKnifeCamGen function block
6-146~148
Added LS_CrossSealCamGen function block
6-149~151
Revised TransitionMode about LS_MoveLinearTimeAbsolute and
LS_MoveLinearTimeRelative
6-160, 6-162
Added error code (0x1124, 0x1170~0x1179)
A2-14, A2-16
※The number of User’s manual is indicated right part of the back cover.
ⓒLSIS Co., Ltd 2017 All Rights Reserved.

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://www.lsis.com/) and download the information as a
PDF file.
Relevant User’s Manuals
Title Description
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Module.
Current XMC-E32A manual is written based on the following version.
Related OS version list
XMC-E32A XG5000
V1.00
V4.20
V1.10
V4.23
V1.20
V4.25

1
◎Table of Content ◎
Chapter 1 Overview …………………………...............................………………...........………………………………… 1-1 ~ 1-10
1.1 Characteristics ................................................................................................................................................................... 1 - 1
1.2 Signal Flow of Motion Controller ....................................................................................................................................... 1 -3
1.3 Function Overview of Motion Controller ........................................................................................................................... 1 -4
1.3.1 Positioning Control ...................................................................................................................................................... 1 - 4
1.3.2 Interpolation Control .................................................................................................................................................... 1 - 5
1.3.3 Speed Control ............................................................................................................................................................. 1 -9
1.3.4 Torque Control ......................................................................................................................................................... 1 -10
Chapter 2 Specification ………………………….............................................……………………………………………. 2-1 ~ 2-14
2.1 General Specification ......................................................................................................................................................... 2 - 1
2.2 Power Specification ........................................................................................................................................................... 2 - 2
2.3 Performance Specification ................................................................................................................................................ 2 -3
2.3.1 Function Specification ................................................................................................................................................. 2 -3
2.3.2 Communication Specification ..................................................................................................................................... 2 -6
2.3.3 Internal Input/Output Specification ............................................................................................................................. 2 -7
2.3.4 Encoder Input Specification ........................................................................................................................................ 2 - 9
2.4 The Name of Each Part .................................................................................................................................................. 2 -10
2.4.1 The Name of Each Part ........................................................................................................................................... 2 -10
2.4.2 Specification of Interface with External Device ....................................................................................................... 2 -11
Chapter 3 Operation Order and Installation ……………........................................................…………………………… 3-1 ~ 3-40
3.1 Operation Order ................................................................................................................................................................. 3 -1
3.2 Installation ........................................................................................................................................................................... 3 -2
3.2.1 Safety Precautions ...................................................................................................................................................... 3 -2
3.2.2 Installation Environment ............................................................................................................................................. 3 -4
3.2.3 Notice in Handling ....................................................................................................................................................... 3 -4
3.2.4 Attachment/Detachment of Motion Controller .............................................................................................................. 3 -5
3.3 Notice in Wiring ............................................................................................................................................................... 3 -10
3.3.1 Notice in Wiring ........................................................................................................................................................ 3 -10
3.3.2 PowerWiring ............................................................................................................................................................ 3 -11
3.3.3 I/O Device Wiring ..................................................................................................................................................... 3 -12
3.3.4 Ground(LG) Wiring .................................................................................................................................................. 3 -13
3.3.5 Specifications of Wiring Cable ................................................................................................................................. 3 -14
3.3.6 Connection Example of Servo Drive ....................................................................................................................... 3 -15
3.3.7 Encoder Input (DC 5V Voltage Output) Wiring Example......................................................................................... 3 -19
3.3.8 Encoder Input (DC 5V Line Driver Output)Wiring Example ................................................................................. 3 -20