Positioning for PlC-S

The Positioning for PLC-S program is a special program that configures and controls positioning function built in PLC-S CPU.
Only one positioning program for PLC-S can be registered for a CICON project.

Registering the Positioning for PLC-S
Select [File] -> [New Program] -> [Positioning for PLC-S] program.

Enter the Program Name, Program ID and Program Free Space (Online Edit Buffer).
Click the [OK] button.

Configuring the Positioning for PLC-S

Start Address: The parameters of the positioning program are stored in M, L, K, D areas in which you can specify. You cannot select start address while in monitoring mode. Specify the Start Address after shutting down the monitor mode.

X/Y Axis Parameter Configurations: Because the parameter configurations are stored in the same space (flash memory) in which the sequence program is saved, the parameters will be kept even after power is removed.

Off Set	Item	Configuration Details		R/W	Remark
		Default	Function
0	Output Pulse Type	0	0=Not Used 1=High Active 2=Low Active	W
1	Bias Speed at Start	1	1 ~ 100,000 PPS	DW	Low
2					High
3	Speed Limit Value	50,000	1 ~ 100,000 PPS	DW	Low
4					High
5	ACC/DEC Time 1	1,000	1 ~ 65,535 mSec	W
6	ACC/DEC Time 2	1,000	1 ~ 65,535 mSec	W
7	ACC/DEC Time 3	1,000	1 ~ 65,535 mSec	W
8	ACC/DEC Time 4	1,000	1 ~ 65,535 mSec	W
9	S/W Upper Limit	2,147,483,647	-2,147,483,648 ~ 2,147,483,647	DW	Low
10					High
11	S/W Lower Limit	-2,147,483,648	-2,147,483,648 ~ 2,147,483,647	DW	Low
12					High
13	Speed Control Current Position	0	0=Do not update 1=Update 2=Clear and update	W
14	Backlash Compensation	0	0 ~ 65,535 Pulse	W
15	External Upper/Lower Limit Signal	0	0=Not Used 1=Wired (Used)	W
16	Jog Speed Limit	20,000	1 ~ 100,000 PPS (Bias Speed<Jog Speed<Speed Limit)	DW	Low
17					High
18	Jog Acc/Dec Time	0	No. of Acc/Dec Time (0~3)	W
19	Inching Speed	100	0 ~ 65,535 PPS	W
20	Complete Output Signal Duration	1000	0 ~ 65,535 mSec	W
21	OPR Method	0	0=DOG / Zero OFF 1=DOG / Zero ON 2=DOG	W
22	OPR Direction	0	0=Forward 1=Backward	W
23	Origin Address	0	-2,147,483,648 ~ 2,147,483,647	DW	Low
24					High
25	OPR High Speed	50,000	1 ~ 100,000 PPS	DW	Low
26					High
27	OPR Low Speed	1,000	1 ~ 100,000 PPS	DW	Low
28					High
29	OPR Acc/Dec Time	0	No. of Acc/Dec Time (0~3)	W
30	DWELL Time	0	0 ~ 50,000 mSec.	W

X/Y Axis Position Data: The basic controls such as position control and speed control are executed by configuring the required items in this ‘Position Data’
and starting this position data. Maximum of 30 ‘position data’ can be defined for each axis. Each position data occupies 8 Word sized memory. This same structure of 8 word memory is also used for positioning command "POSCTRL"

For Dwell Time / Operating Speed / Position Address, invariable numbers and device addresses
(D, M, L, K) can be entered.

Off Set	Item	Bit	Description	Unit
0	Operation Pattern	0	00 = Single step control 01 = Continuous control
		1
	Axis to be Interpolated	2	00 = Non-Interpolation 01 = Main Axis : Y (Linear Interpolation) 10 = Main Axis : X (Linear Interpolation)
		3
	ACC Time	4	Acc/Dec No. (0 ~ 3)
		5
	DEC Time	6	Acc/Dec No. (0 ~ 3)
		7
	Control System	8..F	See ‘Control Code’ table
1
2	Dwell Time	0 ~ 65,535 or indirect data (device memory)		mSec
3
4	OPR Speed	L	1 ~ 100,000 or indirect data (device memory)	PPS
5		H
6	Target Position Address	L	-2,147,483,648 ~ 2,147,483,647 or indirect data (device memory)	Pulse

‘Control code’ must be 0 at the end of ‘position data’ list. While in operation, if the control code is zero, PLC-S terminates the series of positioning control and does not go onto the next item on the list.
Code

Code		Sym	Function	Remark
Hex	Dec	Sym	Function	Remark
00H	0	-	End of position data	Terminates continuous control
01H	1	ABS	Absolute position control
05H	5	INC	Incremental position control
09H	9	FEED	Incremental position control after address reset
13H	19	FSC	Speed control (Forward)
17H	23	RSC	Speed control (Backward)
80H	128	NOP	No operation is performed.
81H	129	JUMP	Force to change next step No.	Next step set value is stored in ‘target position address’
82H	130	LOOP	The first step of loop	Loop count is stored in ‘target position address’
83H	131	LEND	The last step of loop
84H	132	POS	Force to change the current position address	New address is stored in ‘target position address’

Monitor: runs monitor mode.

The monitor mode displays device information of the start address and contents of the axis.

AXIS:
You can select either X Axis or Y Axis. When you change the axis, its device also changes, and the monitor window displays current state of the device.

ENABLE / DISABLE:
Read: notifies the user whether or not the selected axis is currently active.
Write: If this flag is set, the selected axis is switched to the active state. If the flag is reset, the axis is switched to the disabled mode.

Forward/Backward JOG:
JOG drive operates forward and backward without a command, and it operates according to the ‘JOG Speed Limit’ and ‘JOG Accelerate / Decelerate Time’ values configured in the parameters. JOG motion can operate without having to determine starting point.
If you close the monitor window while driving JOG forward or JOG backward, be aware that the operating status is maintained.

Decelerate (Dec) stop: gradually stops the axis in operation.

Emergency Stop: immediately stops the axis in operation without ‘decelerate section.’

Error Reset: this button is activated when an error occurs during the operation of the selected axis. The error is displayed according to the error code below.

Category	Error Code	Error Name	Description
-	0	No error	Normal operation status
Common	104	H/W upper limit	Exceeds position limit (H/W upper limit signal detected)
	105	H/W lower limit	Exceeds position limit (H/W lower limit signal detected)
	106	Opr. speed error	Operational speed in bigger than speed Limit
	154	S/W upper limit	Exceeds S/W position upper limit
	155	S/W lower limit	Exceeds S/W position lower limit
	156	Emergency Stop	Positioning control is denied. (Emergency stop signal is ON)
OPR	202	OPR required	Home position is not decided. Cannot execute positioning control.
OPR	203	No DOG signal	Exceeds DOG signal input time limit (30 seconds) during OPR operation.
Manual	300	JOG/Inching fault	JOG/Inching command/input is executed while other positioning control is under operation.
Positioning	519	Interpolation fault	Partner axis is busy with non-interpolation operation.
	550	Position address change fault	A command to change current position address is issued while the axis is under operation.
	551	Speed change fault	A command to change current speed is issued while the axis in stop or dwell.
	552	Target address change fault	A command to change target address is issued while the axis in stop or dwell.
	553	Duplicated position control	Another position control command is issued while the axis is under operation.
	554	Online edit fault	Online program edit/modify is performed while axis are under operation.

Save: When the Positioning for PLCS program is successfully saved, you will get a message.

Online Modify: downloads the positioning program while running the positioning program.
When the modified program is successfully saved, you will get a confirmation message.

Close: closes the PLCS Positioning program.