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VBC5600 Guide
User manual for VBC5600
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Table of contents
Document Outline
About This Manual
Using This Manual
Manuals for MP2000 Series
Related Manuals
Visual Aids
Safety Information
Safety Precautions
Warranty
Contents
1 Overview
1.1 What is a Motion Program?
1.2 Motion Program Features
1.2.1 Execution Method
1.2.2 Motion Control in Full Synchronization with Sequence Control
1.2.3 Easy to Realize High-level Motion Control
1.2.4 Easy-to-Understand Motion Language
1.2.5 Arithmetic Operations
1.2.6 Data Transfer from/to Ladder Program
1.2.7 Memory Usage Reduced by Use of Subprograms
1.2.8 Parallel Program Execution
1.2.9 Program Online Editing
1.2.10 Enriched Easy Programming Functions (MPE720 Ver.6.04 or later)
1.3 Motion Program Execution Sequence
1.4 Motion Program Execution Registration
1.5 Motion Program Execution Timing
1.6 Grouping
1.7 Application Examples
1.7.1 Example 1: Handling System
1.7.2 Example 2: Mechanical Parts Inserting Machine
1.7.3 Example 3: Panel Processing Machine
1.7.4 Example 4: Metal Sheet Bending Equipment
1.8 What is a Sequence Program?
1.9 Sequence Program Features
1.9.1 Execution Method
1.9.2 Programming Language Commonly Used in Motion Programs
1.9.3 Data Transfer from/to Motion Program
1.9.4 Memory Usage Reduced by Use of Subprograms
1.9.5 Easy Programming Functions (MPE720 Ver.6.04 or later)
2 Specifications
2.1 MP2000 Series Machine Controller Specifications
2.1.1 Applicable Machine Controller Models
2.1.2 Applicable Motion Modules
2.1.3 List of Machine Controller Specifications
2.2 Engineering Tool MPE720 Specifications
2.2.1 Applicable Version Numbers of the Engineering Tool MPE720
2.2.2 List of Engineering Tool MPE720 Specifications
2.3 List of Motion Language Commands
3 Program Development Flow
3.1 Program Development Flow
3.2 Program Development Procedure
3.2.1 Hardware Configuration
3.2.2 Installing MPE720 Version 6
3.2.3 Communication Settings
3.2.4 System Setup
3.2.5 Creating Project Files
3.2.6 Group Definitions
3.2.7 Creating a Motion Program
3.2.8 Registering the Program Execution
3.2.9 Transferring the Motion Program
3.2.10 Debugging the Program
3.2.11 Saving the Programs in Flash Memory
3.2.12 Executing the Programs
4 Motion Programs
4.1 Types of Motion Programs
4.2 Motion Programs For Each Axis Group
4.3 Running a Motion Program
4.3.1 How to Run a Motion Program
(1) Calling the Motion Program from the Ladder Program Using a MSEE command
(2) Registering it to the M-EXECUTOR Program Execution Definition
4.3.2 Registering the Program Execution
(1) Embedding an MSEE command in the Ladder Program
(2) Registering MPM001 in the M-EXECUTOR
4.3.3 Work Registers
(1) For a Motion Program Called from the Ladder Program Using an MSEE Command
(2) For a Motion Program Registered in an M-EXECUTOR Program Execution Definition
4.4 Advanced Programming
4.4.1 Indirect Designation of a Program Number Using a Register
(1) When Using a Motion Program called by a MSEE Command from the Ladder Program
(2) For a Motion Program Registered in the M-EXECUTOR Program Execution Definition
4.4.2 Controlling the Motion Program Directly from an External Device
4.4.3 Monitor the Motion Program Execution Information Using S Register
(1) A Motion Program Referenced by an MSEE Command from a Ladder Program
(2) A Motion Program Registered in the M-EXECUTOR Program Execution Definition
5 Sequence Programs
5.1 Sequence Program Types
5.2 How to Run a Sequence Program
5.2.1 How to Run a Sequence Program
(1) M-EXECUTOR Program Definition Tab Page
(2) Execution Timing
5.2.2 Registering Program Execution
5.2.3 Work Register
(1) Status Flag of Sequence Program
6 Variables (Registers)
6.1 Overview
6.1.1 Variable Types
(1) Types of Variable (Registers)
(2) Data Types
6.1.2 Global Variables and Local Variables
(1) Global Variables
(2) Local Variables
6.2 Using Variables
6.2.1 System Variables (S Registers)
(1) Overview
(2) Description
(3) Programming Examples
6.2.2 Data Variables (M Registers)
(1) Overview
(2) Description
(3) Programming Examples
6.2.3 Input Variables (I Registers)
(1) Overview
(2) Description
(3) Programming Examples
6.2.4 Output Variables (O Registers)
(1) Overview
(2) Description
(3) Programming Examples
6.2.5 C Variables (C Registers)
(1) Overview
(2) Description
(3) Programming Examples
6.2.6 D Variables (D Registers)
(1) Overview
(2) Description
(3) Programming Examples
6.3 How to Use Subscripts i, j
(1) Bit Type Attached with a Subscript
(2) Integer Type Attached with a Subscript
(3) Long Integer or Real Type Attached with a Subscript
7 Programming
7.1 Motion Program Format
7.1.1 Motion Program Structure
7.1.2 Block Format
(1) Label
(2) Motion Language Commands
(3) Logical Axis Name
(4) Coordinate Words
(5) Specific Characters
(6) End of Block
(7) Comments
7.1.3 Using Constants and Variables
(1) Constants
(2) Variables
7.2 Motion Module Parameters
7.2.1 Axis Type Selection
7.2.2 Reference Unit
7.2.3 Electronic Gear
(1) Parameter Setting Example Using Ball Screw
(2) Parameter Setting Example Using Rotating Table
7.2.4 Speed Reference
7.2.5 Acceleration/Deceleration Setting
7.3 Group Definition
7.4 Priority Levels of Operations
7.5 Commands and Execution Scans
7.5.1 Command Types
7.5.2 List of Command Types
7.6 Sequence Program Format
8 Command Reference
8.1 Axis Setting Commands
8.1.1 Absolute Mode (ABS)
(1) Overview
(2) Format
(3) Programming Example
(4) Supplemental Information on ABS Command
8.1.2 Incremental Mode (INC)
(1) Overview
(2) Format
(3) Programming Example
(4) Supplemental Information on INC Command
8.1.3 Acceleration Time Change (ACC)
(1) Overview
(2) Format
(3) Setting Items for ACC Command
(4) Programming Examples
(5) Supplemental Information on ACC Command
8.1.4 Deceleration Time Change (DCC)
(1) Overview
(2) Format
(3) Setting Items for the DCC Command
(4) Programming Examples
(5) Supplemental Information on DCC Command
8.1.5 S-curve Time Constant Change (SCC)
(1) Overview
(2) Format
(3) Setting Items for SCC Command
(4) Programming Examples
(5) Supplemental Information on SCC Command
8.1.6 Set Velocity (VEL)
(1) Overview
(2) Format
(3) Setting Items for VEL Command
(4) Programming Examples
(5) Supplemental Information on VEL Command
8.1.7 Maximum Interpolation Feed Speed Setting (FMX)
(1) Overview
(2) Format
(3) Setting Items for FMX Command
(4) Programming Examples
(5) Supplemental Information on FMX Command
8.1.8 Interpolation Feed Speed Ratio Setting (IFP)
(1) Overview
(2) Format
(3) Setting Items for IFP Command
(4) Programming Examples
(5) Supplemental Information on IFP Command
8.1.9 Interpolation Acceleration Time Change (IAC)
(1) Overview
(2) Format
(3) Setting Items for IAC Command
(4) Programming Examples
(5) Supplemental Information on IAC Command
8.1.10 Interpolation Deceleration Time Change (IDC)
(1) Overview
(2) Format
(3) Setting Items for IDC Command
(4) Programming Examples
(5) Supplemental Information on IDC Command
8.2 Axis Move Commands
8.2.1 Positioning (MOV)
(1) Overview
(2) Format
(3) Setting Items for MOV Command
(4) Programming Examples
8.2.2 Linear Interpolation (MVS)
(1) Overview
(2) Format
(3) Setting Items for MVS Command
(4) Programming Examples
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)
(1) Overview
(2) Format
(3) Setting Items for MCW and MCC Commands
(4) Programming Examples
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)
(1) Overview
(2) Format
(3) Setting Items for MCW and MCC Commands
(4) Programming Examples
8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position Designation (MCW, MCC)
(1) Overview
(2) Format
(3) Setting Items for MCW and MCC Commands
(4) Programming Examples
8.2.6 Clockwise/Counterclockwise Helical Interpolation with Radius Designation (MCW, MCC)
(1) Overview
(2) Format
(3) Setting Items for MCW and MCC Commands
(4) Programming Examples
8.2.7 Zero Point Return (ZRN)
(1) Overview
(2) Format
(3) Setting Items for ZRN Command
(4) Programming Examples
8.2.8 Linear Interpolation with Skip Function (SKP)
(1) Overview
(2) Format
(3) Programming Examples
8.2.9 Set Time Positioning (MVT)
(1) Overview
(2) Format
(3) Programming Examples
8.2.10 External Positioning (EXM)
(1) Overview
(2) Format
(3) Setting Items for EXM Command
(4) Programming Examples
8.3 Axis Control Commands
8.3.1 Current Position Set (POS)
(1) Overview
(2) Format
(3) Programming Examples
8.3.2 Move On Machine Coordinates (MVM)
(1) Overview
(2) Format
(3) Programming Examples
8.3.3 Program Current Position Update (PLD)
(1) Overview
(2) Format
(3) Programming Examples
8.3.4 In-Position Check (PFN)
(1) Overview
(2) Format
(3) Programming Examples
8.3.5 Set In-Position Range (INP)
(1) Overview
(2) Format
(3) Programming Examples
8.3.6 Coordinate Plane Setting (PLN)
(1) Overview
(2) Format
(3) Programming Examples
8.4 Program Control Commands
8.4.1 Branching Commands (IF ELSE IEND)
(1) Overview
(2) Format
(3) Programming Examples
8.4.2 Repeat (WHILE WEND)
(1) Overview
(2) Format
(3) Programming Examples
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)
(1) Overview
(2) Format
(3) Programming Examples
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)
(1) Overview
(2) Format
(3) Programming Examples
8.4.5 Motion Subprogram Call (MSEE)
(1) Overview
(2) Format
(3) Programming Examples
8.4.6 Sequence Subprogram Call (SSEE)
(1) Overview
(2) Format
(3) Programming Examples
8.4.7 User Function Call From Motion Program (UFC)
(1) Overview
(2) Format
(3) Programming Examples
(4) UFC Command Creation Procedure
(5) Register Types Used Within User Functions
(6) Relationship between I/O Registers and Internal Function Registers
(7) Creating User Functions
8.4.8 User Function Call from Sequence Program (FUNC)
(1) Overview
(2) Format
(3) Programming Examples
8.4.9 Program End (END)
(1) Overview
(2) Format
8.4.10 Subprogram End (RET)
(1) Overview
(2) Format
8.4.11 Dwell Time (TIM)
(1) Overview
(2) Format
(3) Programming Examples
8.4.12 I/O Variable Wait (IOW)
(1) Overview
(2) Format
(3) Programming Examples
8.4.13 One Scan Wait (EOX)
(1) Overview
(2) Format
(3) Programming Examples
8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE)
(1) Overview
(2) Format
(3) Programming Examples
8.5 Arithmetic Operations
8.5.1 Substitute (=)
(1) Overview
(2) Format
(3) Programming Examples
8.5.2 Add (+)
(1) Overview
(2) Format
(3) Programming Examples
8.5.3 Subtract (-)
(1) Overview
(2) Format
(3) Programming Examples
8.5.4 Multiply (*)
(1) Overview
(2) Format
(3) Programming Examples
8.5.5 Divide (/)
(1) Overview
(2) Format
(3) Programming Examples
8.5.6 Remainder (MOD)
(1) Overview
(2) Format
(3) Programming Examples
8.6 Logic Operation
8.6.1 OR (|)
(1) Overview
(2) Format
(3) Programming Examples
8.6.2 AND (&)
(1) Overview
(2) Format
(3) Programming Examples
8.6.3 XOR (^)
(1) Overview
(2) Format
(3) Programming Examples
8.6.4 NOT (!)
(1) Overview
(2) Format
(3) Programming Examples
8.7 Data Comparisons
8.7.1 Data Comparison Commands (==, <>, >, <, >=, <=)
(1) Overview
(2) Format
(3) Programming Examples
8.8 Data Operations
8.8.1 Bit Right Shift (SFR)
(1) Overview
(2) Format
(3) Programming Examples
8.8.2 Bit Left Shift (SFL)
(1) Overview
(2) Format
(3) Programming Examples
8.8.3 Block Move (BLK)
(1) Overview
(2) Format
(3) Programming Examples
8.8.4 Clear (CLR)
(1) Overview
(2) Format
(3) Programming Examples
8.8.5 ASCII Conversion 1 (ASCII)
(1) Overview
(2) Format
(3) Programming Examples
8.9 Basic Functions
8.9.1 Sine (SIN)
(1) Overview
(2) Format
(3) Programming Examples
8.9.2 Cosine (COS)
(1) Overview
(2) Format
(3) Programming Examples
8.9.3 Tangent (TAN)
(1) Overview
(2) Format
(3) Programming Examples
8.9.4 Arc Sine (ASN)
(1) Overview
(2) Format
(3) Programming Examples
8.9.5 Arc Cosine (ACS)
(1) Overview
(2) Format
(3) Programming Examples
8.9.6 Arc Tangent (ATN)
(1) Overview
(2) Format
(3) Programming Examples
8.9.7 Square Root (SQT)
(1) Overview
(2) Format
(3) Programming Examples
8.9.8 BCD to Binary (BIN)
(1) Overview
(2) Format
(3) Programming Examples
8.9.9 Binary to BCD (BCD)
(1) Overview
(2) Format
(3) Programming Examples
8.9.10 Set Bit (S{ })
(1) Overview
(2) Format
(3) Programming Examples
8.9.11 Reset Bit (R{ })
(1) Overview
(2) Format
(3) Programming Examples
8.9.12 Rising Pulse (PON)
(1) Overview
(2) Format
(3) Programming Examples
8.9.13 Falling Pulse (NON)
(1) Overview
(2) Format
(3) Programming Examples
8.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second
(1) Overview
(2) Format
(3) Programming Examples
8.9.15 OFF-Delay Timer (TOF):Counting unit: 0.01 second
(1) Overview
(2) Format
(3) Programming Examples
8.10 C-Language Control Commands
8.10.1 C-Language Task Control (CTSK)
(1) Overview
(2) Format
(3) Programming Examples
8.10.2 C-Language Function Call (CFUNC)
(1) Overview
(2) Format
(3) Programming Examples
9 Engineering Tool MPE720
9.1 Motion Editor
9.1.1 Overview
9.1.2 Names and Descriptions of Motion Editor Window Components
9.2 Command Input Assistant Function
9.2.1 Overview
9.2.2 Motion Command Assist Dialog Box Details
9.3 Program Execution Registration Function
9.3.1 Overview
9.3.2 Program Execution Registry Screen Dialog Box Details
9.4 Debug Function
9.4.1 Overview
9.4.2 Motion Editor Window during Debugging
9.5 Motion Task Manager
9.5.1 Overview
9.5.2 Motion Task Manager Window Details
9.6 Drive Control Panel
9.6.1 Overview
9.6.2 Drive Control Panel Details
9.7 Test Run Function
9.7.1 Overview
9.7.2 Test Run Window Details
9.8 Axis Status and Alarm Monitor
9.8.1 Overview
9.8.2 Monitor Window Details
(1) Axis Monitor
(2) Alarm Monitor
10 Troubleshooting
10.1 Troubleshooting
10.1.1 Basic Flow of Troubleshooting
10.2 Troubleshooting for Motion Programs
10.2.1 Error Investigation Flow
10.2.2 Problem Starting a Motion Program
(1) Program Execution Registration to the System
(2) Program Start Request Bit of Control Signal and Program Running Status Bit of Status Flag
(3) Program Alarm Bit of Status Flag
(4) "No System Work" Error/Execution Scan Error Bit of Status Flag
(5) Main Program Number Over the Range Status Flag Bit
10.2.3 Confirming the Alarm Code
(1) Using Error Information Screen Window
(2) Using S Register
10.2.4 Motion Program Alarm Codes
(1) Configuration of Motion Program Alarms
(2) Alarm Code List for Motion Program
10.3 Troubleshooting for Sequence Programs
10.3.1 Error Investigation Flow
10.3.2 Problem Starting a Sequence Program
(1) Program Execution Registration to the System
(2) Program Alarm Occurring Status Flag Bit
Appendices
A Motion Language Commands
A.1 Axis Setting Commands
A.2 Axis Move Commands
A.3 Control Commands
A.4 Program Control Commands
A.5 Arithmetic Operations
A.6 Logical Operations
A.7 Data Comparison
A.8 Data Operations
A.9 Basic Functions
A.10 C-Language Control Commands
B Sample Programs
B.1 Programs for Controlling Motion Program Execution
(1) Ladder Program
(2) Sequence Program
B.2 Parallel Processing
B.3 Motion Program for Speed Control
B.4 Simple Synchronized Operation Using a Virtual Axis
B.5 Sequence Programs
C Differences between MP900 Series and MP2000 Series Machine Controllers
C.1 Motion Programs
C.2 Sequence Programs
C.3 Motion Programming Commands
C.4 Group Definitions
C.5 Debug Function
C.6 Motion Program Alarms
D Precautions
D.1 General Precautions
(1) Saving the Changes in Programs to the Flash Memory
(2) Prohibited Use of Debug Function for a System in Operation
D.2 Precautions on Motion Parameter Settings
(1) Set bit 5 (Position reference type) of motion setting parameter OW**09 to Incremental value add method
(2) Do not access a motion register from the I/O register by using a subscript
(3) Do not access a motion register of a different circuit by using a subscript
(4) Do not change the motion setting parameter OL**1C “Position reference setting” while axis motion is in progress in a motion program.
Index
Symbols
Numerics
A
B
C
D
E
F
G
H
I
J
L
M
N
O
P
R
S
T
U
V
W
X
Z
Revision History
Back Cover
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