List of FB function blocks of FX5U+JET(Basic)
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1. Function
The MR-JET-G servo amplifier assigns objects according to the index of the CiA 402 driver track. FX5U PLC accesses the assigned objects through the CCLINK IE Field Basic network, and can drive servo motors.
The sample FB block can realize the control of track speed, track position, origin return, pause, emergency stop, reset, status monitoring, and alarm output.
2. JET servo parameter setting
1. Basic parameters (the following parameters must be set)
- PN13.0-3 select CC-LINK IE Field Network Basic
- PN22 default mapping mode selection set 0000 0001
2. Network parameters (the following parameters must be set)
- The IP address of the JET servo can be accessed through the NPA01 parameter "use parameter" and "use rotary switch"
3. Other parameters (the following parameters are set as required)
- PA04.2 Servo forced stop selection
- PD01.2 Forward and reverse stroke end signal is automatically ON
- PA03.0 Absolute position detection system selection
- PT45 Return to origin method
3. FX5U PLC parameter setting (GX WORKS3 software)
1. FX5U CCLINK IE field network Basic configuration JET
Path: FX5UCPU-[Module Parameters]-[Ethernet Port] -[Basic Settings] -[CC-LINK IEF Basic Settings]
CC-LINK IEF Basic Settings-[Network Configuration Settings]
1.1 CC-LINK IEF Basic Settings-[Refresh Settings]
1.2 The address range of the CPU side refresh (device name and start address must be set as follows)
Points occupied by a single JET servo slave link side: Rx/Ry occupies 64 points, RWw/RWr occupies 32 points
The routine in the figure is configured with 5 JET servo slave stations, occupied points: Rx/Ry occupies 64*5=320 points, RWw/RWr occupies 32*5=160 points
No matter how many JET slaves are configured, the device name and start address must be set according to the above figure, but the default range of the W register is 512 points, and the range of the W register needs to be expanded to 1024 points to meet the maximum refresh range of 16 JETs , the change method is as follows:
[CPU parameter]-[Device, label memory area setting]-[Device (standard) setting]-[Detailed setting]
1.3 Set the IP address of FX5U PLC itself, click Apply after setting all parameters
4. Description of connection status between FX5U and JET
1. Judge the current connection status between FX5U and JET according to [CC-LINK IEF Basic Diagnosis ]
2. Through the display part of the servo amplifier (1-digit 7-segment LED), the communication status of the network and the status of the alarm can be confirmed .
About the switch
5. Detailed introduction of FB block
1. FB list
2. Introduction of FB block input and output pins
Explanation: FB block input or output terminal: use uppercase letters to indicate the state of this position: B ( Bohr bit element ) ; W ( single-word element ) ; E ( single-precision floating-point number ) ; D ( double-word element )
INPUT:
FBenb: The FB block is enabled, the cyclic communication is established, and the axis is enabled and operable.
Axis number: 1-16 (maximum control of 16 axes).
Speed limit value: set the speed limit value, the unit is 0.01r/min.
Acceleration time: The setting value should be set in ms as the unit to set the acceleration time until the rated speed is reached.
Deceleration time: The setting value should be in ms to set the deceleration time from rated speed to stop.
Halt: Pause, in the track speed and position mode, turn on this signal to pause, and resume the previous action after turning off.
QuickStop : Emergency stop, it can be stopped in any state, and other actions can only be performed after reset.
ErrReset : Axis error reset.
Jog speed: Target velocity in track speed mode (Target velocity) sets the speed command used in track speed mode (pv). Unit: 0.01r/min.
JogRevStart : Jog reverse signal in track speed mode, reverse when on, and stop when this signal is off.
JogForStart : Jog forward rotation signal in trajectory speed mode, forward rotation when turned on, jog stop when this signal is disconnected.
Origin return start: origin return start signal (the type of origin return is set in the JET parameter)
Target position: Position command (absolute/incremental) in track position mode [Setting range] In track position mode (pp), the range is limited according to different units. Degree unit: -360000～360000, other than degree unit: -999999～999999
Target speed: In track position mode, the speed command value can be set. Set the set value in units of r/min.
Absolute positioning start: In the track position mode, the absolute position positioning is performed according to the target position and target speed, the pulse signal is enough, and the positioning can be reset after the positioning is started.
Relative positioning start: In the track position mode, the absolute position positioning is performed according to the target position and target speed, the pulse signal is enough, and the position can be reset after the positioning is started.
OUTPUT:
CommunicationCompleted: communication establishment output flag bit
Status display: the current control mode can be read. The values for each control mode are as follows.
| control mode |
Display value |
| Track position mode (pp) |
1 |
| Trajectory Velocity Mode (pv) |
3 |
| Trajectory torque mode (tq) |
4 |
| Return to origin mode (hm) |
6 |
Actual position: Display the current position of the servo in the command unit.
Actual speed: display the current servo speed value, the unit is 0.01r/min.
Home return complete: homing complete flag bit.
AlarmCode : The alarm currently occurring (Current alarm 2) displays the number of the alarm currently occurring. When a non-alarm occurs, it returns "0000h". Bit 0~bit 7: Alarm detail number Bit 8~bit 15: Alarm number.