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Dynamic Position Move

The document discusses configuring a K5100 servo drive and Micro800 PLC to enable dynamic position moves. It involves: 1. Configuring position scale, operation mode, I/O, and home settings on the K5100. 2. Configuring PR registers 90-93 on the K5100 to link position move data from the PLC to control parameters on the drive without writing to EEPROM. 3. Developing a Micro800 UDFB to send position, speed, and acceleration data to the K5100 along with a move command via digital outputs and PR register writes.

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Roberto Montoya
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110 views17 pages

Dynamic Position Move

The document discusses configuring a K5100 servo drive and Micro800 PLC to enable dynamic position moves. It involves: 1. Configuring position scale, operation mode, I/O, and home settings on the K5100. 2. Configuring PR registers 90-93 on the K5100 to link position move data from the PLC to control parameters on the drive without writing to EEPROM. 3. Developing a Micro800 UDFB to send position, speed, and acceleration data to the K5100 along with a move command via digital outputs and PR register writes.

Uploaded by

Roberto Montoya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Dynamic Position Move

K5100 – Micro800
07 • 2020
• Bluan: GOTC SEA
Agenda

1 Demand Overview

2 Control Concept

3 K5100
Configuration
4 Micro800 UDFB
Demand Overview
Dynamic Position Move

RA Kinetix 5100 UDFB functions:


• Servo ON/OFF
• Clear Fault
• Jog
• Home Demand of Move Position like
• Stop MAM !!!
• Run Index
Control Concept
Message Position Move Data to Register of PR
To avoid burn out EEPROM of K5100 when write data to non-volatile memory continuously. Data from PLC will write to
K5100 Data array and use PR to write those data to PR register without upload to EEPROM.

Micro800: Msg to move K5100:


1 data
• Acc/Dec • Data Array [002]
• Speed • Data Array [003]
• Position • Data Array [004]

K5100:
Msg to cmd
Micro800: Exe PR#90
2 • PR#90: DA[002]  AC15 [P5.35]
• PR#91: DA[003]  POV15 [P5.75]
• CMD_PosMov
• PR#92: DA[004]  PR#93 Data [P7.87]
• PR#93: Execute Point to point Cmd
K5100 Configuration
1. Set an IP Address
K5100 Configuration
2. Declare Motor
K5100 Configuration
3. Position Scale

This number is count per round.


It will use as unit for position cmd
from PLC

Ex: If P1.45 is 1000.


Mean that if cmd from PLC is mov
Inc 1000, Motor will move 1 round.
K5100 Configuration
4. Operation Mode
K5100 Configuration
5. Digital IO

SERVO ON must be set at DI1 to


compatible to K5100 UDFB coding
(It overwrite to DI1 via E/IP for
cmd servo on)

To make Home function work, it


should configure Limit Switch and
Home Switch sensors to DIO.
K5100 Configuration
5. Home Setting Configure Home method as system/machine demand
K5100 Configuration
6. Setting PR#90 to PR#93 to work with Position Move of UDFB

Details setting in next slide of 6.16.4 step


K5100 Configuration
6.1 Configure PR#90

Move Data Array [002] 


Accel/Decel Time AC15
[P5.35]
K5100 Configuration
6.2 Configure PR#91

Move Data Array [003] 


Preset Velocity POV15
[P5.75]
K5100 Configuration
6.3 Configure PR#92

Move Data Array [004] 


PR#93 Data Register
[P7.87]
K5100 Configuration
6.4 Configure PR#93

Execute Point to Point


CMD with AC15, POV15
and Position of PR#93

Please note that:


With current UDFB, user
must select Move
method here (PR#93).
This sample use move
Incremental for demo
Micro800 UDFB
C_K5100_Index_CmdSts_v0

This UDFB is based on


RA_K5100_Index_CmdSts_V2.2:
• Add function of Position move.
• The rest is still keep as original.

Additional Inputs for Position move:


• Inp_MovAccDec : Accel/Decel (ms)
• Inp_MovSpeed : 0.1 (rpm)
• Inp_MovPosition : Expected
Position/distance (PUU)
• Cmd_Mov : Trigger Position move
(Positive edge).
Thank you

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