1. The workbench runs in the direction of the decrease of the value of the current value register (generally M8342=OFF in the opposite direction), and when it encounters the near-point signal, it becomes a creeping speed, and the zero-point signal after leaving the near-point signal arrives with a delay of 1ms, and the pulse output is immediately aborted.
The abort point is the zero point (origin), at this time, the PLC clears the value of the current value register, and sends a zero signal of 20ms+1ms operation cycle time together to clear the encoder error value (retention pulse counter) of the servo drive.
After clearing, the PLC command is completed, and the M8029 is connected to a scanning cycle.
2. If the DOG block has touched the near-point signal when the origin return is launched, the workbench will run in the forward direction, leave the near-point signal first, speed up the reverse operation immediately after slowing down, and then complete the origin return after the action of step 1.
3. If the workbench touches the rotation limit switch when the origin return is started, the forward operation will be accelerated immediately after the deceleration is stopped, until it leaves the near point signal, and then the second step of the action ends and the origin returns.
4. If the rotation limit switch has been compressed when the origin return is started, the forward operation will be directly accelerated until it leaves the near point signal, and then the action of the second step will complete the origin return.
S1. – Near-point input signal.
S2. – Zero input signal.
D1.——Pulse output.
D2. – the output of the motor's direction of rotation signal.
Taking the positioning of 1 axis as an example, the soft components are used as follows:
Pulse output signal: Y0.
Motor direction signal: Use M8342 to specify the origin return direction (OFF rotation, ON forward rotation).
The current value register (32-bit) :D 8340/D8341, the value stored in it, if the power is off, the origin regression only needs to be performed once.
Peri-point signal: X0 - X17.
Slewing limit: M8344.
Forward rotation limit: M8343.
Pulse output: M8340.
Useful flag for clearing the signal: M8341=ON, the effect of the error calculator for the eradication encoder.
The fixed flag of the zeroing signal: M8464=OFF, and the output of the zeroing signal is fixed to one.
M8464=ON, and the output of the zero-clearing signal is specified as D8464.
Zero signal: Y4.
Zero signal: X0 - X7.
Zero signal logic negation: M8346=OFF, positive logic, signal ON useful; M8346=ON, negative logic, signal OFF useful.
Acceleration time: D8348, can be set to 50ms-5000ms, the initial value is 100ms.
Deceleration time: D8349, can be set to 50ms-5000ms, the initial value is 100ms.
Z high speed: D8343/D8344, 32-bit register to save, initial value is 100KHZ.
Base speed: D8342, servo motor set to 0, stepper motor set to a value greater than 0 (below 10KHZ).
Creeping speed: D8345, set creeping speed, the initial value is 10KHZ.
Origin regression speed: D8346/D8347, set the origin regression speed, the initial value is 50KHZ.
Positioning command execution: M8348, command execution condition on flag.
Disable pulse output: M8349, can be used as a PLC emergency stop signal, but the emergency stop signal with a servo drive is more accurate.
The above soft components are based on the output of axis 1Y0, and the soft components used in Y1-Y3 are different.
The following two marking soft components are universal flag slots:
Command Complete Flag Pulse: M8029.
Command execution is abnormally complete, marking the pulse: M8329.
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