weintek iR-PU01-P User manual

User Manual
iR-PU01-P
This guide walks through important information about iR-PU01-P.
V1.00

Table of Contents
1. Product Overview ...................................................................................................1
2. Specifications..........................................................................................................2
Module Specification .....................................................................................22.1
Digital Input Specification ..............................................................................22.2
Digital Output Specification ...........................................................................22.3
3. LED Indicators .........................................................................................................3
AX1 LED ..........................................................................................................33.1
Run/Error/Warn LED ......................................................................................33.2
I/O LED ...........................................................................................................33.3
4. Error Handling.........................................................................................................4
Function Block Error.......................................................................................44.1
Warning..........................................................................................................44.2
Error ...............................................................................................................54.3
5. Wiring .....................................................................................................................6
Notes on Wiring .............................................................................................65.1
Digital Input / Output Wiring .........................................................................65.2
Differential Output Wiring .............................................................................75.3
Differential Input Wiring ................................................................................85.4
6. Connecting a Coupler .............................................................................................9
iR-COP ............................................................................................................96.1
Slot and Axis...................................................................................................96.2
7. Features ................................................................................................................10
Feature List...................................................................................................107.1
High Speed Pulse Output .............................................................................107.2
High Speed Pulse Input (Encoder) ...............................................................127.3
Positioning Control (Buffer Mode Supported).............................................137.4
Velocity Control............................................................................................147.5
Homing.........................................................................................................157.6
Synchronized Motion (Gear / MPG).............................................................157.7
Digital Cam Switch .......................................................................................157.8
Capture.........................................................................................................167.9
Configurable I/O...........................................................................................167.10
Motion Control working with I/O Control....................................................167.11
8. Object Dictionary..................................................................................................17
Manufacturer Specific Profile Area (5500h - 58FFh) ...................................178.1
8.1.1 Digital Input：5500h ...........................................................................20
8.1.2 Pulse Input Method：5501h ...............................................................21

8.1.3 Input Polarity：5502h .........................................................................22
8.1.4 Digital Input Function：5503h ............................................................22
8.1.5 Digital Input Filter：5504h ..................................................................22
8.1.6 Digital Output：5510h ........................................................................23
8.1.7 Pulse Output Method：5511h ............................................................23
8.1.8 Output Polarity：5512h ......................................................................24
8.1.9 Digital Output Function：5513h .........................................................24
8.1.10 Digital Output Abort Connection Option：5514h...............................24
8.1.11 PWM Output Setting：551Ah .............................................................25
8.1.12 Axis Setting0：5520h...........................................................................26
8.1.13 Axis Setting1：5521h...........................................................................26
8.1.14 Additional position modulo range：5528h .........................................26
8.1.15 Additional home offset：5529h ..........................................................26
8.1.16 Gear Motion Setting：5530h ..............................................................26
8.1.17 DigitalCamSwitch Enable：5580h .......................................................26
8.1.18 DigitalCamSwitch Track Position ValueSource：5581h.......................27
8.1.19 DigitalCamSwitch MC_CAMSWITCH_REF：5583h..............................27
8.1.20 Motion Output Setting：558Fh...........................................................27
8.1.21 Capture Enable：5590h.......................................................................28
8.1.22 Capture Status：5591h .......................................................................28
8.1.23 Capture Setting：5592h ......................................................................28
8.1.24 Capture Status：5598h .......................................................................29
8.1.25 Motion Trigger Setting：559Fh ...........................................................29
Standardized device profile Area (6000h - 7FFFh).......................................308.2
9. Motion Control Function Blocks ...........................................................................32
Motion Control Function Block List..............................................................329.1
Download and Install ...................................................................................329.2
MC_Status....................................................................................................339.3
Execution of Function Blocks .......................................................................349.4
MC_Power....................................................................................................359.5
MC_MoveVelocity........................................................................................369.6
MC_Home ....................................................................................................369.7
MC_MoveAbsolute ......................................................................................379.8
MC_MoveRelative........................................................................................379.9
MC_STOP and MC_Halt ...............................................................................389.10
MC_Reset .....................................................................................................399.11
MC_Gear ......................................................................................................409.12
10. Quick Start of iR-PU01-P in CODESYS CANopen ...................................................41

Install and Add Weintek Library ...................................................................4110.1
Launch New Project and Add iR-PU01-P......................................................4110.2
Configuring Motion Control Parameters......................................................4210.3
Declaration and Programming .....................................................................4210.4
Axis I/O Mapping..........................................................................................4310.5
Login and Run Trial Operation .....................................................................4410.6

iR-PU01-P
1
1. Product Overview
a
Terminal
b.c
Expansion Connector
英文版 簡中版 日文版
81mm [3.19"]
109mm [4.29"]
27mm [1.06"]
Top View
Side ViewSide View
Bottom View
a
b
c
81mm [3.19"]
109mm [4.29"]
b
c
81mm [3.19"]
109mm [4.29"]
b
c
27mm [1.06"]
Front View
a
iR-DQ08-RiR-DXXX
iR-PXXX
27mm [1.06"]
a
27mm [1.06"]
a
iR-DQ08-RiR-DXXX
iR-PXXX
27mm [1.06"]
a
27mm [1.06"]
a
iR-DQ08-RiR-DXXX
iR-PXXX

iR-PU01-P
2
2. Specifications
Module Specification2.1
Module Name
iR-PU01-P
Number of Axis
1- Axis
Specification
PCB Coating
Yes
Enclosure
Plastic
Dimensions WxHxD
27 x 109 x 81 mm
Weight
Approx. 0.12 kg
Mount
35mm DIN rail mounting
Environment
Protection Structure
IP20
Storage Temperature
-20°~ 70°C (-4°~ 158°F)
Operating
Temperature
0°~ 55°C (32°~ 131°F)
Relative Humidity
10% ~ 90% (non-condensing)
Connection
Cross-section
AWG 28-16
Certification
EMC Immunity
Conforms to
EN 55032: 2012+AC: 2013, Class A
EN 61000-6-4: 2007+A1:2011
EN 55024: 2010+A1: 2015
EN 61000-6-2:2005
Digital Input Specification2.2
Item
Sink Input
Differential Input
Number of Inputs
4
3 (A/B/Z phase )
Input current
24 VDC, 5 mA
Meets the Requirements of ANSI
Standards TIA/EIA-485-A
HIGH Level Input Voltage
15~28 VDC
-
LOW Level Input Voltage
0~5 VDC
-
Maximum input frequency
200KHz
2MHz
Input Impedance
3 KΩ
-
Indicators
Red LED Input State
Digital Output Specification2.3
Item
Source Output
Differential Output
Number of Outputs
4
2(A/B phase )
Output Voltage
24VDC , 50 mA
Meets the Requirements of ANSI
Standards TIA/EIA-485-A
Maximum Output frequency
40KHz
2MHz
Indicators
Red LED Input State

iR-PU01-P
3
3. LED Indicators
AX1 LED3.1
Run/Error/Warn LED3.2
Run LED
Description
OFF
Axis is not ready
Blinking
Axis is ready
ON
Axis is busy
Error LED
Description
OFF
No errors
ON
Error occurred
Warn LED
Description
OFF
No warnings
ON
Warning: Unable to reach the specified
velocity trajectory.
I/O LED3.3
IN 0-3 State
Description
OFF
Digital Input OFF
ON
Digital Input ON
OUT 0-3 State
Description
OFF
Digital Output Set OFF
ON
Digital Output set ON
PA/PB State
Description
OFF
PA/PB Pulse Output OFF
ON
PA/PB Pulse Output ON
A/B/Z State
Description
OFF
A/B/Z Pulse Input OFF
ON
A/B/Z Pulse Input ON
AX1
AX1 Run LED
AX1 Error LED
AX1 Warm LED

iR-PU01-P
4
4. Error Handling
Function Block Error4.1
When using a function block and an error occurs, the diagnostic value is output to
the pin in the function block, and ErrorID contains the error code. The following is a
list showing how to handle errors.
State
Description
Error Handling
AXIS_NOT_READY
The axis is not ready for
operation.
After resolving other errors, enable
MC_Power, wait until the Status
turns to True, and then restart.
AXIS_BUFFER_FULL
Positioning Buffer is full.
Please modify the program to avoid
buffering too many positioning
controls, and use MC_Reset to clear
the error.
AXIS_MOTION_ERROR
A motion error occurs.
Please see chapter 4.3 in this
manual.
AXIS_HOMING_ERROR
A homing error occurs.
Please check the homing related
settings and see Chapter 4.3 in this
manual.
AXIS_TRANSITION_ERROR
Incorrect transition of motion
mode.
Please modify the program to avoid
associating Homing with other
motions, and avoid associating
Positioning Buffer with
non-positioning motions. Please
clear the error using MC_Reset.
Warning4.2
Warnings occur when:
Warn LED is on
Bit 7 in Digital Input Byte0 is 1
Digital Input Byte0
Axis Number
Index
Sub-index
Axis 0
5500h
01h
Axis 1
5600h
01h
Axis 2
5700h
01h
Axis 3
5800h
01h
In positioning control, a warning occurs when:
The specified acceleration/deceleration rate cannot be reached before reaching
the target velocity due to jerk limitation.
In the distance for positioning, acceleration/deceleration takes a long time so
that target velocity cannot be reached.

iR-PU01-P
5
When warning, PU will specify a lower target velocity, and remove jerk limitation and
finish positioning. To keep the jerk limitation, user may adjust target velocity,
acceleration/deceleration rate to avoid warning.
Error4.3
Errors are indicated in the following ways:
Error LED is on
ErrorID of Function Block is AXIS_MOTION_ERROR
The status of the axis is ErroStop
When an error occurs, find the error code and troubleshoot the error. Use MC_Reset
to clear the error, and then use MC_Power to make the axis return to Standstill state.
Error Code
Description
Cause of Error
16#6180
Motion Error 0
MC_POWER is OFF during motion. (Disconnected, or PLC
Stop/Reset).
16#6181
Motion Error 1
Changes to an incorrect mode (CiA402) during motion.
16#6182
Motion Error 2
iR-PU01-P calculates trajectory incorrectly. (Including
errors caused by Blending.)
16#618A
Homing Error
Incorrect Homing mode or an external signal that is not
configured is used.
16#6280
Software Limitation
The position is going to exceed or already exceeds the
software limitation.
16#6281
Prohibited Direction
Movement in prohibited direction.
16#8612
Exceeding Position Range
Target position exceeds software limitation or axis range.
16#6320
Function Block Error
Invalid parameters used.
16#6380
Parameter Error 0
Incorrect pulse output mode used.
16#6381
Parameter Error 1
Incorrect pulse output mode used.
16#6382
Parameter Error 2
The product of the numerator and denominator of the
ratio is too large. (INT_MAX)
16#6383
Parameter Error 3
The product of the numerator and denominator of the
ratio of the 1st axis is too large.
16#6384
Parameter Error 4
The product of the numerator and denominator of the
ratio of the 2nd axis is too large.
16#9080
External Signal Error 0
Positive limit signal is triggered.
16#9081
External Signal Error 1
Negative limit signal is triggered.
16#9082
External Signal Error 2
Immediate stop signal is triggered.
16#7500
Communication Error
Disconnection or Heartbeat Timeout has occurred.

iR-PU01-P
6
5. Wiring
Notes on Wiring5.1
Wiring for Differential Communication
a. Wire length should be minimized (Max: 500m shielded, 300m unshielded).
b. Please use twisted pair cables conform to the impedance matching.
c. If wiring is to be exposed to lightning or surges, use appropriate surge
suppression devices.
d. Keep AC wiring separated from signal wires.
e. Keep high energy and rapidly switching DC power wiring separated from
signal wires.
Wiring for Digital Output
Digital output voltage range: 24VDC (-15%/+20%)
The maximum output voltage per point is 50mA, please take this into consideration
when wiring.
Wiring for Digital Input
Digital input voltage range: 15~28VDC (ON), 5V (OFF)
Input impedance: 3 KΩ
Please take this into consideration when wiring.
Digital Input / Output Wiring5.2