Programmable Logic Control

Standalone Motion Controller

XGT Series

XMC-E32A(/DC)
XMC-E16A(/DC)
XMC-E08A(/DC)
XMC-E32C(/DC)
 Safety Instruction

Before using the product …

For your safety and effective operation, please read the safety instructions thoroughly before using the product.

► Safety Instructions should always be observed in order to prevent accident or risk with the safe and

proper use the product.

► Instructions are divided into “Warning” and “Caution”, and the meaning of the terms is as follows.

Warning This symbol indicates the possibility of serious injury or death if some applicable

instruction is violated.

This symbol indicates the possibility of severe or slight injury, and property
Caution
damages if some applicable instruction is violated.

Moreover, even classified events under its caution category may develop into serious accidents relying on

situations. Therefore we strongly advise users to observe all precautions properly just like warnings.

► The marks displayed on the product and in the user’s manual have the following meanings.

Be careful! Danger may be expected.

Be careful! Electric shock may occur.

► The user’s manual even after read shall be kept available and accessible to any user of the product.

1
 Safety Instruction

Safety Instructions for Design Process

Caution
 Design the analog input / output signal or pulse input / output line at least 100mm away

from high voltage line or power line so that it is not affected by noise or magnetic field

change. It may cause malfunction due to noise.

 If there is a lot of vibration in the installation environment, take measures to prevent

direct vibration from being applied to the PLC. It may cause electric shock, fire or malfunction.

 If metallic dust is present in the installation environment, take measures to prevent

metallic dust from entering the product. It may cause electric shock, fire or malfunction.

Safety Instructions on Installation Process

Caution
 Use PLC only in the environment specified in PLC manual or general standard of datasheet.

If not, electric shock, fire, abnormal operation of the product may be caused.

 Before install or remove the module, be sure PLC power is off. If not, electric shock or damage

on the product may be caused.

 Be sure that every module is securely attached after adding a module or an extension

connector. If the product is installed loosely or incorrectly, abnormal operation, error or dropping

may be caused. In addition, contact failures under poor cable installation will be causing

malfunctions as well.

 Make sure that the I / O connector is securely fastened. It may cause wrong input or output.

2
 Safety Instruction

Safety Instructions for Wiring Process

Warning
 Prior to wiring works, make sure that every power is turned off. If not, electric shock or

damage on the product may be caused.

Caution
 Check rated voltages and terminal arrangements in each product prior to its wiring

process. Applying incorrect voltages other than rated voltages and misarrangement among

terminals may cause fire or malfunctions.

 Secure terminal screws tightly applying with specified torque. If the screws get loose, short

circuit, fire or abnormal operation may be caused. Securing screws too tightly will cause

damages to the module or malfunctions, short circuit, and dropping.

 Be sure to earth to the ground using Class 3 wires for PE terminals which is exclusively

used for PLC. If the terminals not grounded correctly, abnormal operation or electric shock

may be caused.

 Don’t let any foreign materials such as wiring waste inside the module while wiring,

which may cause fire, damage on the product or abnormal operation.

3
 Safety Instruction

Safety Instructions for Test-Operation and Maintenance

Warning
 Don’t touch the terminal when powered. Electric shock or abnormal operation may occur.

 Prior to cleaning or tightening the terminal screws, let all the external power off including

PLC power. If not, electric shock or abnormal operation may occur.

Caution

 Do not make modifications or disassemble each module.

Fire, electric shock or abnormal operation may occur.

 Prior to installing or disassembling the module, let all the external power off including

PLC power. If not, electric shock or abnormal operation may occur.

 Keep any wireless equipment such as walkie-talkie or cell phones at least 30cm away

from PLC. If not, abnormal operation may be caused.

Safety Instructions for Waste Disposal

Caution

 Product or battery waste shall be processed as industrial waste. The waste may discharge

toxic materials or explode itself.

4
 Revision History

Revision History
Version Date Remark Revised position
V 1.0 2017.4 First Edition -
Added ‘speed unit’ and ‘filter time constant’ in encoder parameter 5-12, 18
Added LS_ReadCamTableMasterPos function block 6-141~142
V 1.1 2017.11 Added G-Code of ‘G21’ 9-12, 26
Added Acceleration/Constant speed/Deceleration Operation flags Appendix 1-6
Added appendix chapter of ‘Using EtherCAT slaves from other companies’ Appendix 6
Setting range of encoder position filter constant is corrected 5-12~13, 7-24
Added LS_OnOffCam function block 6-143~145
Added LS_RotaryKnifeCamGen function block 6-146~148
V1.2 2018.6 Added LS_CrossSealCamGen function block 6-149~151
Revised TransitionMode about LS_MoveLinearTimeAbsolute and
6-160, 6-162
LS_MoveLinearTimeRelative
Added error code (0x1124, 0x1170~0x1179) A 2-14, A2-16
V1.3 2018.12 Added XMC-E32C function block Ch15, A7
Added XMC-E16A and XMC-E08A function blocks Ch2, Ch6, Ch13
Added wiring specifications Chapter 3
Set up Ethercat Network/Added Flags Chapter 4
Set up NC Spindles, Encoder Latch, Added Position Control Range
Chapter 5
Expansion
Added LS_OnOffCamEx, NC_RetraceMove, NC_BlockSkip, NC_DryRun,
NC_ToolMode, NC_ReadToolMode, NC_MirrorImage, NC_SpindleControl,
Chapter 6
NC_BlockOptionalSkip, NC_ManualToolComp, NC_ChgSpindleGear,
V1.4 2019.5 FILE_OPEN, FILE_CLOSE, FILE_WRITE, FILE_READ, FILE_SEEK
Added Parameters Chapter 7
Added NC Control Expansion Function Chapter 9
Added Built-in Cnet Function Chapter 15
Added Flags according to NC Control Expansion Function Appendix 1
Added Error Information according to Cnet, NC Control Expansion Function Appendix 2
Added the Explanation of Cnet Communications Code Words Appendix 7
Added EtherCAT Diagnostic Function Appendix 8
Format and contents modification according to the change of company
V1.5 2020.7 -
name(LSIS  LS ELECTRIC)

5
 개정 이력

 Modify Domain (www.lselectric.co.kr -> www.ls-electric.com) Cover, Chapter 15

 [Additional XMC OS V2.10 version-up functionality reflected]
 Added Expansion homing (LS_Home)
 Added Cross-coupled control(LS_CrossCoupledControlOn)
 Added Reset axis error 2(MC_Reset2)
 Added Total axis servo On/Off (MC_PowerAll)
 Added Total axis homing (MC_HomeAll)
 Added Total axis expansion homing (LS_HomeAll)
 Added Total axis prompt Stop (MC_StopAll)
 Added Total axis Stop (MC_HaltAll)
 Added Reset all axis error 2 (MC_Reset2All)
 Added Setting all axis current position (MC_SetPositionAll)
 Added Group Servo On/Off (MC_GroupPower)
 Added Read slave SDO data(timeout) (LS_ReadSDO2)
 Added Write slave SDO data(timeout) (LS_WriteSDO2)
 Added Master position loop control (LS_MasterPLoopControl)
 Added Cam Profile/Point Specification Extensions
 Added cam block setup function
 Supplement BufferMode Description
1.6 ’23.01
 Added Node Switch Operation Mode Description Chapter 6, Chapter 8

 Add connection function description below EtherCAT settings

 Added Read Motion Information (MC_ReadMotionInfo)
 Added Read current Position (MC_ReadActualPosition)
 Added Read current Velocity (MC_ReadActualVelocity)
 Added Read current torque (MC_ReadActualTorque)
 Added Read command Position (MC_ReadCommandedPosition)
 Added Read command Velocity (MC_ReadCommandedVelocity)
 Added Read command torque (MC_ReadCommandedTorque)
 Added Expansion Gear operation (MC_GearInEx)
 Added Expanded position specified electronic gear operation
(MC_GearInPosEx)
 Added Expansion Variable gear operation (LS_VarGearInEx)
 Added Expansion Variable positioning gear operation
(LS_VarGearInPosEx)
 Added Read axis group parameter (LS_ReadGroupParameter)
 Added Write axis group parameter (LS_WriteGroupParameter)
 Added Axis group vel/acc override(MC_GroupSetOverride)
 Added Group current position setting (MC_GroupSetPosition2)

6
 Revision History

 Supplemented the description (MC_GroupSetPosition)

 Added Flag Content (_AGxx_Disabled)
 Added Prepare to allow external TCP connections. (TCP Server)
 Added Perform TCP socket accept action.(TCP Server operation)
 Added Connects to a relative TCP port.(TCP Client operation)
(SOCKET_TCPCONNECT)
 Added Receive data from a TCP socket (SOCKET_TCPRECV)
 Added Send data from a TCP socket (SOCKET_TCPSEND)
 Added Performs a request to create a UDP socket.
(SOCKET_UDPCREATE)
 Added Receive data from a UDP socket (SOCKET_UDPRECV)
 Added Send data from a UDP socket (SOCKET_UDPSEND)
 Added Check information for each channel of socket service
(SOCKET_SVCINFO)
 Added Initializes the receive buffer of a TCP or UDP socket.
(SOCKET_BUFCLEAR)
 Added Close the socket service channel.(SOCKET_CLOSE)
 Added Read local Ethernet IP, SUBNET MASK, GATEWAY
(L_NET_INFO)
 Added Local Ethernet IP, SUBNET MASK, GATEWAY settings
(SET_IP)
 Added Feature Description (MoveLink)
 Added a description of the 3D arc interpolation function
 Added Coordinate System Operation Look Ahead Function Content
 Added Coordinate System Output Filter Feature Content
 Added contents of the maximum acceleration limit function for
coordinate system operation.
 Added a description of the function of the terminology reverse
instrumentation
 Added action method in case of coordinate system operation 0x20C7
error
 Added full NC2 channel functionality
 Added EtherCAT Multiframe Description Chapter 4
 Supplemented Flag Description (_EC_MASTER_STATE,
Appendix 1
SLVxx_EC_STATE)
 Added Error Code (0x10B3, 0x10B4, 0x10B5, 0x10B6, 0x10B7,
0x10B7, 0x3362, 0x36B3, 0x0E90~0E96, 0x1023, 0x2130, 0x0F64,
0x0F75, 0x1220, 0x2120~0x2126, 2110~0x2113) Appendix 2

7
 Abut User’s Manual

 Modify explanations of command in-position width

 Added contents of speed control operation mode Chapter5
 Added contents of coordinate operation maximum allowance
acceleration/deceleration.
 Added contents of drive absolute position error detection
 Added contents of override mode
 Added contents of interpolation operation blending angle limit
 Added contents of interpolation operation blending allowance angle
 Added contents of coordinate look ahead setting
 Add contents of coordinate system output filter time constants
V1.7 ‘24.01
 Added contents of rotation operation/linear operation conversion ratio
 Added explanations of axis input range Chapter6
 Modify the command list missing
 Added explanations of MC stop command operation during homing
 Modify input/output type mistake of LS_ReadCamBlockProperty,
LS_WriteCamBlockProperty
 Added PID, LINAC, SLINAC commands
 Added explanations of absolute coordinate system application condition Chapter8
during homing Appendix 2
 Added error code list

8
 사용설명서에 대해서

Thank you for purchasing PLC of LS ELECTRIC Co., Ltd.

Before use, make sure to carefully read and understand the User’s Manual about the functions, performances, installation and
programming of the product you purchased in order for correct use and importantly, let the end user and maintenance
administrator to be provided with the User’s Manual.

The User’s Manual describes the product. If necessary, you may refer to the following description and order accordingly. In
addition, you may connect our website (http://www.ls-electric.com/) and download the information as a PDF file.
Relevant User’s Manuals
Title Description

XG5000 User’s Manual XG5000 software user manual describing online function such as programming, print,
(for XGK, XGB) monitoring, debugging by using XGK, XGB CPU.
XG5000 User’s Manual XG5000 software user manual describing online function such as programming, print,
(for XGI, XGR) monitoring, debugging by using XGI, XGR CPU.
XGK/XGB Instructions & User’s manual for programming to explain how to use instructions that are used PLC
Programming User’s Manual system with XGK, XGB CPU.
XGI/XGR/XEC Instructions & User’s manual for programming to explain how to use instructions that are used PLC
Programming User’s Manual system with XGI, XGR, XEC CPU.
XGK-CPUA/CPUE/CPUH/CPUS/CPUU user manual describing about XGK CPU
XGK CPU User’s Manual
module, power module, base, IO module, specification of extension cable and system
(XGK-CPUA/E/H/S/U)
configuration, EMC standard.
XGI-CPUU/CPUH/CPUS user manual describing about XGI CPU module, power
XGI CPU User’s Manual
module, base, IO module, specification of extension cable and system configuration,
(XGI-CPUU/CPUH/CPUS)
EMC standard.
XGR- CPUH/F, CPUH/T user manual describing about XGR CPU module, power
XGR Redundant Series
module, extension drive, base, IO module, specification of extension cable and system
User’s Manual
configuration, EMC standard.
XG-PM software user manual describing online function such as motion programing,
XG-PM User’s Manual
monitoring, debugging by using Positioning Module.

The User’s Manual is based on XMC-E32A.

1) The differences according to product name and figure, please check the chapter of specifications, function blocks, analog
and serial interfaces.
2) This manual is based on the following versions.
XMC-E32A XMC-E16A XMC-E08A XMC-E32C XG5000
V1.40 V1.40 V1.40 V1.40 V4.28

9
 Table of Content

◎ Table of Content ◎

Chapter 1 Overview ……………………………………………………………...........………………………………………… 1-1~1-11

1.1 Characteristics ............................................................................................................................................................................ 1 - 1

1.2 Signal Flow of Motion Controller ................................................................................................................................................ 1 - 3

1.3 Function Overview of Motion Controller .................................................................................................................................... 1 - 4

1.3.1 Positioning Control ............................................................................................................................................................... 1 - 4

1.3.2 Interpolation Control ............................................................................................................................................................. 1 - 5

1.3.3 Speed Control ................................................................................................................................................................... 1 - 10

1.3.4 Torque Control .................................................................................................................................................................. 1 - 11

Chapter 2 Specification …………………………………………………………………………………………………………. 2-1~2-15

2.1 General Specification .................................................................................................................................................................. 2 - 1

2.2 Power Specification .................................................................................................................................................................... 2 - 2

2.3 Performance Specification ......................................................................................................................................................... 2 - 3

2.3.1 Performance Specification .................................................................................................................................................. 2 - 3

2.3.2 EtherCAT Communication Specification ............................................................................................................................ 2 - 6

2.3.3 Internal Input/ Output Specification ..................................................................................................................................... 2 - 7

2.3.4 Input Specification of Encoder.............................................................................................................................................. 2 – 9

2.4 Part names................................................................................................................................................................................. 2 - 10

2.4.1 Part names ........................................................................................................................................................................ 2 - 10

2.4.2 Specification of Interface with External Device ............................................................................................................... 2 – 13

Chapter 3 Operation Order and Installation …………………………………………………………………………………… 3-1~3-40

3.1 Operation procedure ................................................................................................................................................................... 3 - 1

3.2 Installation .................................................................................................................................................................................... 3 - 2

3.2.1 Safety Precautions ............................................................................................................................................................... 3 - 2

3.2.2 Installation Environment ...................................................................................................................................................... 3 - 4

3.2.3 Precautions of Handling ...................................................................................................................................................... 3 - 4

3.2.4 Attachment/Detachment of Motion Controller .................................................................................................................... 3 - 4

3.3 Precautions in Wiring ............................................................................................................................................................... 3 - 10

3.3.1 Precautions in Wiring ........................................................................................................................................................ 3 - 10

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 Table of Content

3.3.2 Power Wiring ..................................................................................................................................................................... 3 - 11

3.3.3 I/O Devices Wiring ............................................................................................................................................................ 3 - 12

3.3.4 Grounding Wiring .............................................................................................................................................................. 3 - 13

3.3.5 Cable Specifications for Wiring ......................................................................................................................................... 3 - 14

3.3.6 Connection of Servo Drive ............................................................................................................................................... 3 - 15

3.3.7 Encoder Input (DC 5V Voltage Output) Wiring Example.................................................................................................. 3 - 19

3.3.8 Encoder Input (DC 5V Line Driver Output) Wiring Example .......................................................................................... 3 - 20

3.3.9 External Input Signal Wiring Example ............................................................................................................................. 3 - 21

3.3.10 External Output Signal Wiring Example ........................................................................................................................ 3 - 21

3.4 EMC ......................................................................................................................................................................................... 3 - 22

3.4.1 EMC Standard .................................................................................................................................................................. 3 - 22

3.5 Fail Safe ................................................................................................................................................................................... 3 - 26

3.5.1 Fail Safe Circuit ................................................................................................................................................................. 3 - 26

3.6 Maintenance ............................................................................................................................................................................ 3 - 28

3.6.1 Maintenance and Inspection ............................................................................................................................................ 3 - 28

3.6.2 Daily Inspection ................................................................................................................................................................. 3 - 28

3.6.3 Periodic Inspection .............................................................................................................................................................. 3 - 29

3.7 Troubleshooting ....................................................................................................................................................................... 3 - 30

3.7.1 Basic Procedure of Troubleshooting ................................................................................................................................ 3 - 30

3.7.2 Troubleshooting ................................................................................................................................................................ 3 - 31

3.7.3 Troubleshooting Questionnaire ........................................................................................................................................ 3 - 37

3.7.4 Cases ................................................................................................................................................................................ 3 - 38

Chapter 4 Motion Control Operation …………………………………………………………………………………………… 4-1~4-23

4.1 Structure of Motion Controller ..................................................................................................................................................... 4 - 1

4.2 Motion Control Configuration ....................................................................................................................................................... 4 - 2

4.3 Motion Control Tasks .................................................................................................................................................................. 4 - 3

4.3.1 Task Types ......................................................................................................................................................................... 4 - 3

4.3.2 Task Operation .................................................................................................................................................................... 4 - 4

4.3.3 Motion Command Execution ................................................................................................................................................... 4 - 7

4.4 EtherCAT Communication ......................................................................................................................................................... 4 - 8

4.4.1 What is EtherCAT ................................................................................................................................................................ 4 - 8

4.4.2 COE(CANopen over EtherCAT) ......................................................................................................................................... 4 - 8

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 Table of Content

4.4.3 EtherCAT State Machine .................................................................................................................................................... 4 - 9

4.4.4 EtherCAT Process Data Objective(PDO) ...................................................................................................................... 4 – 10

4.4.5 MultiFrame setting function ................................................................................................................................................ 4 - 11

4.4.6 Specification of Motion Controller EtherCAT Communication ....................................................................................... 4 – 12

4.4.7 EtherCAT Network Connection ........................................................................................................................................ 4 – 12

4.4.8 EtherCAT Network Setting ................................................................................................................................................ 4 – 14

4.4.9 CiA 402 Operation Mode Supported ................................................................................................................................ 4 – 16

4.4.10 EtherCAT Master Setting ................................................................................................................................................ 4 – 17

4.4.11 EtherCAT Slave Setting .................................................................................................................................................. 4 – 18

4.4.12 EtherCAT Error Information Flags .................................................................................................................................. 4 – 19

4.4.13 EtherCAT Master Status Diagnosis Flag ....................................................................................................................... 4 – 20

4.4.14 EtherCAT Slave Status Diagnosis Flag ......................................................................................................................... 4 – 20

4.4.15 Using the Third Party EtherCAT Slave........................................................................................................................... 4 – 21

4.5 Motion Control Program .......................................................................................................................................................... 4 - 22

4.5.1 Program Execution ........................................................................................................................................................... 4 - 22

4.5.2 Operation Modes .............................................................................................................................................................. 4 - 23

Chapter 5 Memory and Parameter ,I/O signal………………………………………………………………………………… 5-1~5-51

5.1 Memory ........................................................................................................................................................................................ 5 - 1

5.1.1 Program and Data Memory ................................................................................................................................................. 5 - 1

5.1.2 Device .................................................................................................................................................................................... 5 - 2

5.1.3 Parameter .............................................................................................................................................................................. 5 - 9

Chapter 6 Motion Function Block ……………………………………………………………………………………………… 6-1~6-332

6.1 Common Elements of Motion Function Blocks ......................................................................................................................... 6 - 1

6.1.1 The State of Axis .................................................................................................................................................................. 6 - 1

6.1.2 The state of Group ............................................................................................................................................................... 6 - 3

6.1.3 Basic I/O Variable ................................................................................................................................................................ 6 - 4

6.1.4 BufferMode Input ................................................................................................................................................................. 6 - 7

6.1.5 Changes in Parameters during Execution of Motion Function Block ................................................................................ 6 - 7

6.1.6 Group Operation Route Change Settings .......................................................................................................................... 6 - 8

6.1.7 Motion Function Block Errors ........................................................................................................................................... 6 - 10

6.2 Motion Function Block ............................................................................................................................................................ 6 – 16

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 Table of Content

6.2.1 Setting Range by Product ..................................................................................................................................................... 6 - 16

6.3 Single-Axis Motion Function Blocks ........................................................................................................................................ 6 - 17

6.3.1 Servo On/Off (MC_Power) ............................................................................................................................................... 6 - 17

6.3.2 Perform the search home (MC_Home) ........................................................................................................................... 6 - 18

6.3.3 Stop immediately (MC_STOP) ........................................................................................................................................ 6 - 20

6.3.4 Stop (MC_Halt) ................................................................................................................................................................. 6 - 21

6.3.5 Absolute positioning operation (MC_MoveAbsolute) ...................................................................................................... 6 - 22

6.3.6 Relative positioning operation (MC_MoveRelative) ........................................................................................................ 6 - 25

6.3.7 Additive positioning operation (MC_MoveAdditive) ........................................................................................................ 6 - 28

6.3.8 Specified velocity operation (MC_MoveVelocity) ............................................................................................................ 6 - 31

6.3.9 Absolute position operation ending with specified velocity operation

(MC_MoveContinuousAbsolute) ...................................................................................................................................... 6 - 34

6.3.10 Relative position operation ending with specified velocity operation

(MC_MoveContinuousRelative) ..................................................................................................................................... 6 - 38

6.3.11 Torque control (MC_TorqueControl) ............................................................................................................................. 6 - 41

6.3.12 Setting the current position (MC_SetPosition) .............................................................................................................. 6 - 43

6.3.13 Velocity/Acceleration override (MC_SetOverride) ........................................................................................................ 6 - 45

6.3.14 Read Parameter (MC_ReadParameter) ....................................................................................................................... 6 - 47

6.3.15 Write Parameter (MC_WriteParameter) ........................................................................................................................ 6 - 51

6.3.16 Reset axis error (MC_Reset) ......................................................................................................................................... 6 - 55

6.3.17 Touch probe (MC_TouchProbe) ................................................................................................................................... 6 - 56

6.3.18 Abort trigger events (MC_AbortTrigger) ........................................................................................................................ 6 - 62

6.3.19 SuperImposed operation (MC_MoveSuperImposed) .................................................................................................. 6 - 63

6.3.20 SuperImposed operation stop (MC_HaltSuperImposed) ............................................................................................ 6 – 64

6.3.21 Perfrom the search expansion home (LS_Home) ........................................................................................................ 6 - 65

6.3.22 Reset axis error 2(MC_Reset2) ..................................................................................................................................... 6 - 67

6.3.23 Read Motion Information (MC_ReadMotionInfo) .......................................................................................................... 6 - 68

6.3.24 Read current Position (MC_ReadActualPosition) ......................................................................................................... 6 - 69

6.3.25 Read current Velocity (MC_ReadActualVelocity) ......................................................................................................... 6 - 70

6.3.26 Read current torque (MC_ReadActualTorque) ............................................................................................................. 6 - 71

6.3.27 Read command Position (MC_ReadCommandedPosition) ........................................................................................ 6 - 72

6.3.28 Read command Velocity (MC_ReadCommandedVelocity) ........................................................................................ 6 - 73

6.3.29 Read command torque (MC_ReadCommandedTorque) ............................................................................................ 6 - 74

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 Table of Content

6.4 Multi-Axis Motion Function Blocks .......................................................................................................................................... 6 - 75

6.4.1 Camming operation (MC_CamIn) ................................................................................................................................... 6 - 75

6.4.2 Camming operation Disable (MC_CamOut) ................................................................................................................... 6 - 81

6.4.3 Gearing operation (MC_GearIn) ...................................................................................................................................... 6 - 83

6.4.4 Gearing operation disable (MC_GearOut) ...................................................................................................................... 6 - 86

6.4.5 Gearing by specifying the position (MC_GearInPos) ...................................................................................................... 6 - 88

6.4.6 Phase compensation (MC_Phasing) .............................................................................................................................. 6 – 94

6.4.7 All axis Servo On/Off (MC_PowerAll) .............................................................................................................................. 6 - 95

6.4.8 All axis Homing (MC_HomeAll) ....................................................................................................................................... 6 - 96

6.4.9 All axis Expansion Homing (LS_HomeAll) ...................................................................................................................... 6 - 97

6.4.10 All axis Stop immediately (MC_StopAll) ........................................................................................................................ 6 - 99

6.4.11 All axis Stop (MC_HaltAll) ............................................................................................................................................ 6 - 100

6.4.12 Reset All axis error 2(MC_Reset2All) .......................................................................................................................... 6 - 101

6.4.13 All axis Setting the current position (MC_SetPositionAll) ............................................................................................ 6 - 102

6.4.14 Expansion Gear operation (MC_GearInEx) ................................................................................................................ 6 - 103

6.4.15 Extended electrical gearing by specifying the position (MC_GearInPosEx) ............................................................. 6 - 104

6.4.16 Link operation (LS_MoveLink) ..................................................................................................................................... 6 - 106

6.5 Group Motion Function Blocks .............................................................................................................................................. 6 - 109

6.5.1 Adds Group axis (MC_AddAxisToGroup) ..................................................................................................................... 6 - 109

6.5.2 Removes Group axis (MC_RemoveAxisFromGroup) ................................................................................................. 6 - 110

6.5.3 Removes all axes from the group (MC_UngroupAllAxes) ........................................................................................... 6 - 111

6.5.4 Group Enable (MC_GroupEnable) ................................................................................................................................ 6 - 112

6.5.5 Group Disable (MC_GroupDisable) .............................................................................................................................. 6 - 113

6.5.6 Performs the search home of all axes in the group (MC_GroupHome) ...................................................................... 6 - 114

6.5.7 Sets the position of all axes in the group without moving (MC_GroupSetPosition) .................................................... 6 - 115

6.5.8 Stop the group immediately (MC_GroupStop) .............................................................................................................. 6 - 117

6.5.9 Stop the group (MC_GroupHalt) .................................................................................................................................... 6 - 118

6.5.10 Reset the group error (MC_GroupReset) ................................................................................................................... 6 - 119

6.5.11 Absolute positioning linear interpolation operation (MC_MoveLinearAbsolute) ........................................................ 6 - 120

6.5.12 Incremental position linear Interpolation operation (MC_MoveLinearRelative) ......................................................... 6 - 124

6.5.13 Absolute position circular Interpolation operation (MC_MoveCircularAbsolute) ....................................................... 6 - 129

6.5.14 Incremental position circular Interpolation operation (MC_MoveCircularRelative) ................................................... 6 – 133

6.5.15 Axis Group Servo On/Off (MC_GroupPower) ............................................................................................................ 6 - 138

6.5.16 Read axis group parameter (LS_ReadGroupParameter) .......................................................................................... 6 - 139

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 Table of Content

6.5.17 Write axis group parameter (LS_WriteGroupParameter) ........................................................................................... 6 - 142

6.5.18 Axis group override (MC_GroupSetOverride) ............................................................................................................. 6 - 145

6.5.19 Group current position setting (MC_GroupSetPosition2) ........................................................................................... 6 - 147

6.6 Dedicated Function Blocks .................................................................................................................................................... 6 - 148

6.6.1 Communication connection (LS_Connect) ................................................................................................................... 6 - 148

6.6.2 Communication Disconnect (LS_Disconnect) .............................................................................................................. 6 - 149

6.6.3 Read SDO (LS_ReadSDO) ........................................................................................................................................... 6 - 150

6.6.4 Write SDO (LS_SDO) .................................................................................................................................................... 6 - 151

6.6.5 Save SDO (LS_SaveSDO) ........................................................................................................................................... 6 – 152

6.6.6 Read SDO (LS_ReadSDO2) ......................................................................................................................................... 6 - 153

6.6.7 Write SDO (LS_WriteSDO2) .......................................................................................................................................... 6 - 154

6.6.8 Encoder preset position setting (LS_EncoderPreset) ................................................................................................... 6 - 155

6.6.9 JOG operation (LS_Jog) ................................................................................................................................................ 6 - 156

6.6.10 Read Cam data (LS_ReadCamData) ......................................................................................................................... 6 - 158

6.6.11 Write Cam data (LS_WriteCamData) ......................................................................................................................... 6 – 159

6.6.12 Write Cam Block Property (LS_WriteCamBlockProperty) ......................................................................................... 6 - 161

6.6.13 Write Cam Block node (LS_WriteCamBlockNode) .................................................................................................... 6 - 162

6.6.14 Generate Cam data (LS_GenerateCamData) ............................................................................................................ 6 - 164

6.6.15 Read Cam Block Property (LS_ReadCamBlockProperty) ........................................................................................ 6 - 165

6.6.16 Read Cam Block node (LS_ReadCamBlockNode) ................................................................................................... 6 - 166

6.6.17 Read ESC (LS_ReadEsc) ........................................................................................................................................... 6 - 168

6.6.18 Write ESC (LS_WriteEsc) ............................................................................................................................................ 6 - 170

6.6.19 Skip Cam (LS_CamSkip) ............................................................................................................................................. 6 - 172

6.6.20 Variable Cam operation (LS_VarCamIn) .................................................................................................................... 6 - 173

6.6.21 Variable gear operation (LS_VarGearIn) ..................................................................................................................... 6 - 175

6.6.22 Variable gearing by specifying the position (LS_VarGearInPos) ............................................................................... 6 - 176

6.6.23 Read the slave location of the CAM table (LS_ReadCamTableSlavePos) .............................................................. 6 - 178

6.6.24 Write inverter speed (LS_InverterWriteVel) ................................................................................................................. 6 - 179

6.6.25 Read inverter speed (LS_InverterReadVel) ................................................................................................................ 6 - 180

6.6.26 Write inverter control word (LS_InverterControl) ......................................................................................................... 6 - 181

6.6.27 Read inverter status 1 (LS_InverterStatus1) ............................................................................................................... 6 - 183

6.6.28 Read inverter status 2 (LS_InverterStatus2) ............................................................................................................... 6 - 184

6.6.29 Speed control operation (CSV mode) (LS_SyncMoveVelocity) ................................................................................. 6 – 185

6.6.30 Read CAM table master position (LS_ReadCamTableMasterPos) ......................................................................... 6 – 186

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6.6.31 OnOff CAM Operation (LS_OnOffCam) .................................................................................................................... 6 – 188

6.6.32 RotaryKnife cam profile generation (LS_RotaryKnifeCamGen) ............................................................................... 6 – 191

6.6.33 Cross sealer cam profile generation (LS_CrossSealCamGen) ................................................................................ 6 – 194

6.6.34 Expand OnOff CAM Operation (LS_OnOffCamEx).................................................................................................... 6 – 197

6.6.35 Master position loop control (LS_MasterPLoopControlOn) ........................................................................................ 6 – 201

6.6.36 Master position loop control Release (LS_MasterPLoopControlOff).......................................................................... 6 – 203

6.6.37 Cross-coupled control (LS_CrossCoupledControlOn) ................................................................................................ 6 – 204

6.6.38 Cross-coupled control Release (LS_CrossCoupledControlOff) ................................................................................. 6 – 205

6.6.39 Expansion Variable gear operation (LS_VarGearInEx) .............................................................................................. 6 – 206

6.6.40 Epansion Variable electrical gearing by specifying the position (LS_VarGearInPosEx) ........................................... 6 – 207

6.7 Coordinate System Operation Function Block ..................................................................................................................... 6 - 209

6.7.1 Setting the Machine information position (MC_SetKinTransform) ............................................................................... 6 - 209

6.7.2 PCS setting (MC_SetCartesianTransform) ................................................................................................................... 6 - 212

6.7.3 Work space setting (LS_SetWorkspaceTransform) ..................................................................................................... 6 - 214

6.7.4 Linear Interpolation Operation for Absolute Position of Coordinate System (LS_MoveLinearAbsolute) ................... 6 - 217

6.7.5 Linear Interpolation Operation for Incremental Position of Coordinate System (LS_MoveLinearRelative) ............... 6 - 220

6.7.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System

(LS_MoveLinearTimeAbsolute) ..................................................................................................................................... 6 – 222

6.7.7 Time Linear Interpolation Operation for Incremental Position of Coordinate System

(LS_MoveLinearTimeRelative) ....................................................................................................................................... 6 - 224

6.7.8 Circular interpolation operation for absolute position of coordinate system

(MC_MoveCircularAbsolute2D) ...................................................................................................................................... 6 - 226

6.7.9 Circular interpolation operation for Incremental position of coordinate system

(MC_MoveCircularRelative2D) ....................................................................................................................................... 6 - 230

6.7.10 Synchronization setting of conveyor belt (MC_TrackConveyorBelt) ......................................................................... 6 - 234

6.7.11 Synchronization setting of the rotary table (MC_TrackRotaryTable) ......................................................................... 6 - 235

6.7.12 JOG operation of the coordinate system (MC_RobotJog) ......................................................................................... 6 - 236

6.7.13 Set path operation data (MC_SetMovePath) .............................................................................................................. 6 - 238

6.7.14 Delete path operation data (MC_RestMovePath) ...................................................................................................... 6 - 240

6.7.15 Read path operation data (MC_GetMovePath) .......................................................................................................... 6 - 241

6.7.16 Perform path operation (MC_RunMovePath) ............................................................................................................ 6 – 243

6.7.17 3D Circular interpolation operation for absolute position of coordinate system

(MC_MoveCircularAbsolute3D) ..................................................................................................................................... 6 – 244

6.7.18 3D Circular interpolation operation for Incremental position of coordinate system

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(MC_MoveCircularRelative3D) ....................................................................................................................................... 6 - 248

6.8 NC Control Function Block .................................................................................................................................................... 6 - 252

6.8.1 Specify NC program (NC_LoadProgram) ..................................................................................................................... 6 - 252

6.8.2 Specify block operation (NC_BlockControl) .................................................................................................................. 6 - 253

6.8.3 Reset (NC_Reset) .......................................................................................................................................................... 6 - 254

6.8.4 Emergency stop (NC_Emergency) ............................................................................................................................... 6 - 256

6.8.5 Start automatic operation (NC_CycleStart) ................................................................................................................... 6 - 257

6.8.6 Feed hold (NC_FeedHold) ............................................................................................................................................. 6 - 258

6.8.7 NC Homing (NC_Home) ................................................................................................................................................ 6 - 259

6.8.8 Rapid traverse override (NC_RapidTraverseOverride) ................................................................................................ 6 - 260

6.8.9 Cutting feed override (NC_CuttingFeedOverride) ......................................................................................................... 6 - 261

6.8.10 Spindle override (NC_SpindleOverride) ...................................................................................................................... 6 - 262

6.8.11 M Code operation completed (NC_McodeComplete) ................................................................................................ 6 - 263

6.8.12 S Code operation completed (NC_ScodeComplete) ................................................................................................. 6 - 264

6.8.13 T Code operation completed (NC_TcodeComplete) .................................................................................................. 6 - 265

6.8.14 Read NC parameters (NC_ReadParameter) ............................................................................................................. 6 - 266

6.8.15 Write NC parameters (NC_WriteParameter) ............................................................................................................. 6 – 279

6.8.16 Reverse Operation (NC_RetraceMove) ..................................................................................................................... 6 – 280

6.8.17 Block skip (NC_BlockSkip)............................................................................................................................................ 6 – 281

6.8.18 Dry Run (NC_DryRun) .................................................................................................................................................. 6 – 282

6.8.19 Tool Retract/Recover Operation (NC_ToolMode) ....................................................................................................... 6 – 283

6.8.20 Read Tool Retract/Recover Modes (NC_ReadToolMode)......................................................................................... 6 – 284

6.8.21 Mirror Image (NC_MirrorImage) ................................................................................................................................... 6 – 285

6.8.22 Spindle Operation Control (NC_SpindleControl) ......................................................................................................... 6 – 286

6.8.23 NC optional block skip(NC_BlockOptionalSkip) .......................................................................................................... 6 – 287

6.8.24 Manual Measurement of Compensation Amount (NC_ManualToolComp) .............................................................. 6 – 288

6.8.25 NC spindle gear change(NC_ChgSpindleGear) ......................................................................................................... 6 – 289

6.8.26 Save NC program to SD Card (NC_ExportProgram) ................................................................................................. 6 – 290

6.8.27 Save SD card NC program to PLC (NC_ImportProgram) .......................................................................................... 6 – 291

6.8.28 Forward Kinematic operation (LS_ForwardKin) .......................................................................................................... 6 – 292

6.8.29 Inverse Kinematic operation (LS_InverseKin).............................................................................................................. 6 – 294

6.9 File command ....................................................................................................................................................................... 6 – 295

6.9.1 Open Files in SD Memory Card (FILE_OPEN) ............................................................................................................. 6 – 295

6.9.2 Close File in SD Memory Cards (FILE_CLOSE)........................................................................................................... 6 – 297

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6.9.3 Write Files in SD Memory Cards (FILE_WRITE) .......................................................................................................... 6 – 298

6.9.4 Read Files in SD Memory Cards (FILE_READ)............................................................................................................ 6 – 300

6.9.5 Seek the Position to Access in SD Memory Card (FILE_SEEK).................................................................................. 6 – 302

6.10 Communication commands................................................................................................................................................. 6 – 304

6.10.1 Prepare to allow external TCP connections. (TCP Server)......................................................................................... 6 – 304

6.10.2 Prepare to allow external TCP connections. (TCP Server)......................................................................................... 6 – 306

6.10.3 Connects to a relative TCP port.(TCP Client operation) (SOCKET_TCPCONNECT) ............................................. 6 – 308

6.10.4 Receive data from a TCP socket (SOCKET_TCPRECV).......................................................................................... 6 – 310

6.10.5 Send data from a TCP socket (SOCKET_TCPSEND)............................................................................................... 6 – 312

6.10.6 Performs a request to create a UDP socket. (SOCKET_UDPCREATE) .................................................................. 6 – 314

6.10.7 Receive data from a UDP socket (SOCKET_UDPRECV) ......................................................................................... 6 – 316

6.10.8 Send data from a UDP socket (SOCKET_UDPSEND).............................................................................................. 6 – 318

6.10.9 Check information for each channel of socket service (SOCKET_SVCINFO).......................................................... 6 – 320

6.10.10 Initializes the receive buffer of a TCP or UDP socket. (SOCKET_BUFCLEAR) ..................................................... 6 – 321

6.10.11 Close the socket service channel. (SOCKET_CLOSE)............................................................................................ 6 – 322

6.10.12 Read local Ethernet IP, SUBNET MASK, GATEWAY (L_NET_INFO)................................................................... 6 – 323

6.10.13 Local Ethernet IP, SUBNET MASK, GATEWAY settings (SET_IP)........................................................................ 6 – 324

6.11 Other commands.................................................................................................................................................................. 6 – 326

6.11.1 PID calculation(PID) ...................................................................................................................................................... 6 – 326

6.11.2 LINAC(Accelerator/Decelerator command ). ............................................................................................................... 6 – 329

6.11.3 SLINAC(S-curve Accelerator/Decelerator command )................................................................................................ 6 – 331

Chapter 7 Program ……………………………………………………………………………………………………………… 7-1~7-44

7.1 Program Configuration and operation Method............................................................................................................................ 7 - 1

7.1.1 Configuration of Program ...................................................................................................................................................... 7 - 1

7.1.2 How to Set the Program ...................................................................................................................................................... 7 - 2

7.1.3 Run Time of the Program .................................................................................................................................................... 7 - 4

7.2 Status Information Reading ........................................................................................................................................................ 7 - 6

7.3 Discrete Motion Program ........................................................................................................................................................... 7 - 7

7.3.1 Preparation for Operation .................................................................................................................................................... 7 - 7

7.3.2 Return to Origin Point operation............................................................................................................................................ 7 - 8

7.3.3 Absolute/Relative Position Operation .............................................................................................................................. 7 - 10

7.3.4 Speed/Torque Control Operation ..................................................................................................................................... 7 - 13

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7.3.5 Axis Stop ........................................................................................................................................................................... 7 - 16

7.3.6 Error Handling ................................................................................................................................................................... 7 - 18

7.3.7 Operation Change .............................................................................................................................................................. 7 - 20

7.3.8 Read/Write Parameter........................................................................................................................................................ 7 - 22

7.4 Multi-Axis Operation Program ................................................................................................................................................. 7 - 28

7.4.1 Linear Interpolation Operation .......................................................................................................................................... 7 - 28

7.4.2 Circular Interpolation Operation ........................................................................................................................................ 7 - 30

7.4.3 Synchronous Operation .................................................................................................................................................... 7 - 32

7.4.4 CAM Operation ................................................................................................................................................................. 7 - 34

7.4.5 Axis Group Processing ..................................................................................................................................................... 7 - 36

7.4.6 Axis Group Operation Example ............................................................................................................................................ 7 - 38

7.5 I/O Processing Program .......................................................................................................................................................... 7 - 44

7.5.1 Handling of Input Signal .................................................................................................................................................. 7 - 44

7.5.2 Handling of Output Signal ................................................................................................................................................. 7 – 44

Chapter 8 Motion Control Function …………………………………………………………………………………………… 8-1~8-160

8.1 Origin Determination ................................................................................................................................................................... 8 - 1

8.1.1 Origin Determination ............................................................................................................................................................ 8 - 1

8.1.2 Homing ................................................................................................................................................................................... 8 - 2

8.2 Control Operation Type................................................................................................................................................................ 8 - 14

8.2.1 Single-axis Position Control .............................................................................................................................................. 8 - 14

8.2.2 Single-axis Velocity Control .............................................................................................................................................. 8 - 19

8.2.3 Single-axis Torque Control ............................................................................................................................................... 8 - 21

8.2.4 Specified Velocity Operation after Position Operation .................................................................................................... 8 - 23

8.2.5 Switching Control .............................................................................................................................................................. 8 - 25

8.2.6 Axis Group Control ............................................................................................................................................................ 8 - 27

8.2.7 Linear Interpolation Control .............................................................................................................................................. 8 - 29

8.2.8 Circular Interpolation Control ............................................................................................................................................ 8 - 34

8.2.9 Axis Control Buffer Mode .................................................................................................................................................. 8 - 42

8.2.10 Axis Group Control Buffer Mode and Transition Mode ................................................................................................. 8 - 45

8.2.11 Synchronous Control ..................................................................................................................................................... 8 – 47

8.2.12 Manual Control ................................................................................................................................................................ 8 - 64

8.2.13 SuperImposed Operation ............................................................................................................................................... 8 - 66

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8.2.14 Phase Compensation Control ....................................................................................................................................... 8 – 68

8.2.15 Cross –coupled Control .................................................................................................................................................. 8 - 70

8.3 Other Functions ....................................................................................................................................................................... 8 - 74

8.3.1 Modification Functions of Control ..................................................................................................................................... 8 - 74

8.3.2 Auxiliary Function of Control ............................................................................................................................................. 8 - 81

8.3.3 Data Management Function ............................................................................................................................................ 8 - 88

8.3.4 EtherCAT Communication Diagnosis Function .............................................................................................................. 8 - 91

8.3.5 Cable Duplication Function .............................................................................................................................................. 8 - 96

8.3.6 Replace during Connection ............................................................................................................................................. 8 – 98

8.3.7 Encoder Position Latch Function ...................................................................................................................................... 8 – 99

8.3.8 Position Control Range Expansion................................................................................................................................. 8 – 100

8.3.9 Connection function less than the set number ............................................................................................................... 8 – 101

8.3.10 Node switch operation mode setting ............................................................................................................................ 8 – 102

8.4 Coordinate System Operation Function ............................................................................................................................... 8 - 104

8.4.1 Overview of Coordinate Systems Operation ................................................................................................................. 8 - 104

8.4.2 ACS/MCS/PCS/TCP ...................................................................................................................................................... 8 - 105

8.4.3 PCS Setting ..................................................................................................................................................................... 8 - 106

8.4.4 Machine Information Setting ........................................................................................................................................... 8 - 107

8.4.5 Workspace Configuration ............................................................................................................................................... 8 - 112

8.4.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System ...................................................... 8 - 114

8.4.7 Circular Interpolation Operation for Coordinate System ............................................................................................... 8 - 117

8.4.8 Synchronized Operation for Conveyor Belt ................................................................................................................... 8 - 124

8.4.9 Synchronized Operation for Rotary Table ..................................................................................................................... 8 - 127

8.4.10 Path Operation Function for Coordinate System ....................................................................................................... 8 – 130

8.4.11 Interpolation operation blending angle limit function ..................................................................................................... 8 - 132

8.4.12 3D Circular Interpolation Operation for Coordinate System ......................................................................................... 8 - 134

8.4.13 Coordinate system operation maximum acceleration limit function............................................................................. 8 - 141

8.4.14 Coordinate system operation look ahead function........................................................................................................ 8 - 142

8.4.15 Coordinate system operation output filter function ........................................................................................................ 8 - 143

8.5 FoE(File Access over EtherCAT) Function .......................................................................................................................... 8 - 144

8.5.1 Overview of FoE Function .............................................................................................................................................. 8 - 144

8.5.2 FoE Download ................................................................................................................................................................ 8 - 144

8.6 CAM data function expansion ............................................................................................................................................... 8 - 147

8.6.1 Cam Data expansion overview........................................................................................................................................ 8 - 147

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8.6.2 Cam Data expansion....................................................................................................................................................... 8 – 147

8.6.3 Cam data extension function compatibility check (XG5000 / XMC) .............................................................................. 8 - 150

8.6.4 Cam data extension function compatibility check(SD memory card/XG5000/ XMC)................................................... 8 - 151

8.7 CAM block Functions ............................................................................................................................................................ 8 - 152

8.7.1 Overview of CAM block Function .................................................................................................................................... 8 - 152

8.7.2 Cam block setting enable ................................................................................................................................................ 8 – 152

Chapter 9 NC Control Function ……………………………………………………………………………………………… 9-1~9-143

9.1 NC Commands ........................................................................................................................................................................... 9 - 1

9.1.1 NC Command Definition ....................................................................................................................................................... 9 - 1

9.1.2 Definition of the Command Character ................................................................................................................................ 9 - 1

9.1.3 Coordinate System ............................................................................................................................................................. 9 – 3

9.1.4 How to Accelerate/Decelerate Interpolation Operation....................................................................................................... 9 – 5

9.2 Configuration of the Program ..................................................................................................................................................... 9 - 9

9.2.1 NC Program ......................................................................................................................................................................... 9 - 9

9.2.2 NC Program Configuration ............................................................................................................................................... 9 - 10

9.2.3 Data .................................................................................................................................................................................. 9 – 13

9.2.4 NC program Write ............................................................................................................................................................. 9 - 14

9.3 NC Commands ........................................................................................................................................................................ 9 - 16

9.3.1 Basic Format of the NC Position Command ................................................................................................................... 9 - 16

9.3.2 NC Commands List ............................................................................................................................................................ 9 - 18

9.3.3 Description of NC Command Description ....................................................................................................................... 9 - 21

9.4 NC Parameter ......................................................................................................................................................................... 9 – 99

9.5 Spindle Function ..................................................................................................................................................................... 9 – 116

9.5.1 Spindle Device .................................................................................................................................................................. 9 - 116

9.5.2 How to Operate the Spindle Axis ..................................................................................................................................... 9 - 120

9.5.3 Spindle Related Parameter .............................................................................................................................................. 9 - 124

9.5.4 Spindle Operation Function.............................................................................................................................................. 9 - 126

9.5.5 Spindle Operation State .................................................................................................................................................. 9 – 135

9.5.6 Spindle related Commands............................................................................................................................................. 9 – 137

9.6 NC 2 channel function ............................................................................................................................................................ 9 – 140

9.6.1 How to add NC channel 2 ................................................................................................................................................ 9 - 140

9.6.2 NC channel/axis connection of NC channel 2................................................................................................................. 9 - 141

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9.6.3 Operation when writing NC program during run ............................................................................................................. 9 - 142

9.6.4 NC channel 2 Precautions ............................................................................................................................................... 9 - 143

Chapter 10 CPU Function …………………………………………………………………………………………………… 10-1~10-44

10.1 Task Design ........................................................................................................................................................................... 10 - 1

10.1.1 Task Overview ................................................................................................................................................................ 10 - 1

10.1.2 Task Specification ........................................................................................................................................................... 10 - 2

10.1.3 Basic Operation of Task ................................................................................................................................................. 10 - 2

10.1.4 Examples of Task Execution Sequence ...................................................................................................................... 10 – 4

10.1.5 System Service Processing ........................................................................................................................................... 10 - 5

10.1.6 Program Occupancy Rate Operation ............................................................................................................................ 10 - 6

10.1.7 Task Setting Items .......................................................................................................................................................... 10 - 9

10.1.8 Methods on How to Use Variables between Tasks .................................................................................................... 10 - 10

10.1.9 Task Flags ..................................................................................................................................................................... 10 - 11

10.1.10 Task-Related Warning/Error ...................................................................................................................................... 10 - 12

10.2 Parameter Setting ................................................................................................................................................................ 10 - 14

10.2.1 Basic Parameter Setting ............................................................................................................................................... 10 - 14

10.2.2 I/O Parameter Setting ................................................................................................................................................... 10 - 16

10.3 Self-Diagnosis Function ...................................................................................................................................................... 10 - 18

10.3.1 Main Task/Periodic Task Cycle Error ......................................................................................................................... 10 – 18

10.3.2 Task Program Occupancy Rate Excess Warning /Error ............................................................................................ 10 - 19

10.3.3 Error History Storage Function ..................................................................................................................................... 10 - 20

10.3.4 Failure Management .................................................................................................................................................... 10 - 21

10.3.5 Failure Diagnosis Function for the External Device .................................................................................................... 10 - 24

10.3.6 Instantaneous Power Failure Protection Function ...................................................................................................... 10 - 25

10.4 RTC Function ....................................................................................................................................................................... 10 - 26

10.4.1 How to Use the RTC .................................................................................................................................................... 10 - 26

10.5 Remote Function ................................................................................................................................................................. 10 - 29

10.6 I/O Forced On/Off Functions ............................................................................................................................................... 10 - 30

10.6.1 Forced I/O Setting Method ........................................................................................................................................... 10 - 30

10.6.2 Time to Process the Forced I/O On/Off and Processing Method .............................................................................. 10 - 31

10.7 Function Saving the Operation History ............................................................................................................................... 10 - 32

10.7.1 Error History .................................................................................................................................................................. 10 - 32

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10.7.2 Mode Conversion History ............................................................................................................................................. 10 - 32

10.7.3 Power Down History ..................................................................................................................................................... 10 - 32

10.7.4 System History .............................................................................................................................................................. 10 - 32

10.7.5 Motion Error History ...................................................................................................................................................... 10 - 32

10.8 Program Modification during Operation(Modification during RUN ) ................................................................................... 10 - 33

10.8.1 Modification Procedures during RUN .......................................................................................................................... 10 - 33

10.9 Read I/O Information ........................................................................................................................................................... 10 - 36

10.10 Monitoring Functions ......................................................................................................................................................... 10 - 37

10.11 Function to Delete All of the Motion Controller ................................................................................................................. 10 - 40

10.12 Built-in Input/Output Function ............................................................................................................................................ 10 - 41

10.12.1 Input Filter Function ................................................................................................................................................... 10 – 41

10.12.2 Emergency Output Function ...................................................................................................................................... 10 - 43

10.13 Reading of Serial Number Information ............................................................................................................................. 10 - 44

Chapter 11 Datalog Function ……………………………………………………………………………………………… 11-1~11-103

11.1 Overview ................................................................................................................................................................................ 11 - 1

11.1.1 Features .......................................................................................................................................................................... 11 - 1

11.1.2 Part Names ..................................................................................................................................................................... 11 - 2

11.1.3 Operation Sequence ....................................................................................................................................................... 11 -3

11.1.4 Control Signal Flow ......................................................................................................................................................... 11 - 4

11.2 Performance Specifications .................................................................................................................................................. 11 - 5

11.3 Specification Functions .......................................................................................................................................................... 11 - 6

11.3.1 Data Type and Device .................................................................................................................................................... 11 - 6

11.3.2 Data Save Method ........................................................................................................................................................ 11 - 10

11.3.3 Data Sampling Condition .............................................................................................................................................. 11 - 11

11.3.4 Save Folder Structure ................................................................................................................................................... 11 - 22

11.3.5 CSV File Format ........................................................................................................................................................... 11 - 23

11.3.6 How to Save CSV ......................................................................................................................................................... 11 - 26

11.3.7 Buffer Memory .............................................................................................................................................................. 11 - 27

11.3.8 Data Omission .............................................................................................................................................................. 11 - 28

11.3.9 Files Backup Cycle ....................................................................................................................................................... 11 - 29

11.4 Regular Save ....................................................................................................................................................................... 11 - 30

11.4.1 Save Method ................................................................................................................................................................. 11 - 30

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11.4.2 Save at Designated Interval ......................................................................................................................................... 11 - 33

11.4.3 Save at Designated Time ............................................................................................................................................. 11 - 37

11.5 Trigger Save ........................................................................................................................................................................ 11 - 40

11.5.1 Trigger Condition .......................................................................................................................................................... 11 - 41

11.5.2 Trigger Sample Block Calculation ................................................................................................................................ 11 - 49

11.5.3 Trigger Sample Calculation .......................................................................................................................................... 11 - 50

11.5.4 Trigger Sample Save Cycle ........................................................................................................................................ 11 – 50

11.5.5 Trigger Sample Save Section ...................................................................................................................................... 11 - 50

11.5.6 Setting Method .............................................................................................................................................................. 11 - 51

11.6 Event Save ........................................................................................................................................................................... 11 - 62

11.6.1 Event Condition ............................................................................................................................................................. 11 - 63

11.6.2 Setting Method .............................................................................................................................................................. 11 - 77

11.7 Additional Functions ............................................................................................................................................................ 11 - 88

11.7.1 File Save History Setting .............................................................................................................................................. 11 - 88

11.7.2 Formatting Function........................................................................................................................................................ 11 - 89

11.7.3 Diagnosis Function ....................................................................................................................................................... 11 - 92

11.8 CSV File Structure ............................................................................................................................................................... 11 - 93

11.8.1 File Save Format .......................................................................................................................................................... 11 - 93

11.8.2 File Name and Save Sequence ................................................................................................................................... 11 - 93

11.9 SD Memory Card ................................................................................................................................................................. 11 - 94

11.9.1 SD Memory Specifications............................................................................................................................................. 11 - 94

11.9.2 Caution .......................................................................................................................................................................... 11 - 94

11.9.3 Micro SD Memory Usage Capacity ............................................................................................................................. 11 - 95

11.10 Flag List .............................................................................................................................................................................. 11 - 96

11.10.1 Common Flag ............................................................................................................................................................. 11 - 96

11.10.2 Group Specific Flag .................................................................................................................................................... 11 - 98

11.10.3 Error Code and Solution ............................................................................................................................................. 11 - 99

11.11 Datalog Performance ...................................................................................................................................................... 11 - 100

11.11.1 Data Processing Time .............................................................................................................................................. 11 - 100

11.11.2 Save Performance by Main Task Interval ............................................................................................................... 11 - 100

11.11.3 Save Process Time Verification .............................................................................................................................. 11 – 102

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Chapter 12 SD Addition Function …………………………………………………………………………………………… 12-1~12-13

12.1 Overview ................................................................................................................................................................................ 12 - 1

12.1.1 Characteristics ................................................................................................................................................................ 12 - 1

12.1.2 Export to the SD Card .................................................................................................................................................... 12 - 2

12.1.3 Import from the SD Card ................................................................................................................................................ 12 - 5

12.1.4 PLC Update Function ..................................................................................................................................................... 12 - 5

12.1.5 PLC Backup Function .................................................................................................................................................... 12 - 7

12.1.6 Comparison with the PLC function .................................................................................................................................. 12 - 8

12.1.7 PLC Boot Operation ..................................................................................................................................................... 12 - 10

12.1.8 Automatic Logging Function ......................................................................................................................................... 12 - 12

12.1.9 Error Codes and Countermeasures ............................................................................................................................ 12 - 13

Chapter 13 built-in Analog Functions …………………………………………………………………………………… 13-1~13-50

13.1 Overview ................................................................................................................................................................................ 13 - 1

13.2 Name of Analog Part and Functions .................................................................................................................................... 13 - 4

13.3 Characteristic of I/O Control .................................................................................................................................................. 13 - 5

13.3.1 Input Characteristic ........................................................................................................................................................ 13 – 5

13.3.2 Output Characteristic ..................................................................................................................................................... 13 – 7

13.4 Precision ................................................................................................................................................................................. 13 - 9

13.4.1 Input Accuracy ................................................................................................................................................................ 13 - 9

13.4.2 Output Accuracy ........................................................................................................................................................... 13 - 10

13.5 Built-in Analog functions ...................................................................................................................................................... 13 - 11

13.5.1 Sampling Processing .................................................................................................................................................... 13 - 11

13.5.2 Filter Processing ........................................................................................................................................................... 13 - 12

13.5.3 Average Processing ..................................................................................................................................................... 13 - 12

13.5.4 Detection Alarm (Input Disconnection) ....................................................................................................................... 13 – 15

13.5.5 Hold Last Value Function ............................................................................................................................................. 13 - 16

13.5.6 Alarm Function .............................................................................................................................................................. 13 - 17

13.5.7 Setting Function of Channel Output Status ................................................................................................................. 13 - 17

13.5.8 Interpolation Method Setting ........................................................................................................................................ 13 - 18

13.6 Wiring ................................................................................................................................................................................... 13 - 21

13.6.1 Example for Wiring Analog Input ................................................................................................................................. 13 - 21

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13.6.2 Example for Wiring Analog Output .............................................................................................................................. 13 - 24

13.7 Operation Parameter Setting .............................................................................................................................................. 13 - 25

13.8 Special Module Monitoring Functions ................................................................................................................................ 13 - 27

13.9 Automatic Register U Devices ............................................................................................................................................ 13 - 32

13.10 Configuration and Function of Internal Memory ............................................................................................................... 13 - 36

13.10.1 I/O Area of Built-in Analog Data ................................................................................................................................. 13 - 36

13.11 Example Program ............................................................................................................................................................. 13 - 46

13.12 Failure Diagnostics ............................................................................................................................................................ 13 - 48

13.12.1 LED Indication by Errors ............................................................................................................................................ 13 - 48

13.12.2 Check the Built-in Analog Module .............................................................................................................................. 13 - 48

13.12.3 Failure Diagnostics and Action method ..................................................................................................................... 13 - 49

Chapter 14 Local Ethernet Function ………………………………………………………………………………………… 14-1~14-57

14.1 Local Ethernet Function ........................................................................................................................................................ 14 - 1

14.1.1 Local Ethernet Parameter Settings.................................................................................................................................. 14 - 1

14.1.2 Local Ethernet Connection with XG5000 ........................................................................................................................ 14 - 4

14.1.3 Local Ethernet Connection with XGT Server .................................................................................................................. 14 - 5

14.1.4 Local Ethernet Connection with TCP/IP Server.............................................................................................................. 14 - 5

14.1.5 Local Ethernet Diagnosis Information Function .............................................................................................................. 14 - 7

14.2 FTP Server Functions ............................................................................................................................................................. 14 - 9

14.2.1 Outline ............................................................................................................................................................................... 14 - 9

14.2.2 Support Functions ............................................................................................................................................................ 14 - 9

14.2.3 Setting FTP Server Parameters..................................................................................................................................... 14 - 10

14.2.4 How to Access to the FTP Server ................................................................................................................................. 14 - 12

14.2.5 Firewall Setting................................................................................................................................................................ 14 - 21

14.2.6 Speed up of FTP ............................................................................................................................................................ 14 - 24

14.3 SNTP Client Functions.......................................................................................................................................................... 14 - 26

14.3.1 Outline of the Time Synchronization Protocol ............................................................................................................... 14 - 26

14.3.2 SNTP Parameter Setting ............................................................................................................................................... 14 - 26

14.3.3 How to Setup a Local NTP Server ............................................................................................................................... 14 – 28

14.4 Socket Service....................................................................................................................................................................... 14 - 33

14.4.1 UDP (Receiver) sending/receiving program using socket service............................................................................... 14 - 33

14.4.2 UDP (Sender) sending/receiving program using socket service ................................................................................ 14 – 38

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 Table of Content

14.4.3 TCP server sending/receiving program using socket service ...................................................................................... 14 - 43

14.4.4 TCP client sending/receiving program using socket service ........................................................................................ 14 - 50

14.4.5 Command operation timing chart .................................................................................................................................. 14 - 55

14.4.6 SOCKET SERVICE Common Error ............................................................................................................................. 14 - 56

Chapter 15 Built-in Cnet Communications ……………………………………………………………………………… 15-1~15-163

15.1 Overview .................................................................................................................................................................................. 15 - 1

15.1.1 Characteristics .................................................................................................................................................................. 15 - 1

15.2 Confrim before product check................................................................................................................................................. 15 - 2

15.2.1 Advance Preparation........................................................................................................................................................ 15 - 2

15.2.2 Install the XG5000 ............................................................................................................................................................ 15 - 2

15.2.3 Check the product version ............................................................................................................................................... 15 - 3

15.3 Specifications ........................................................................................................................................................................... 15 - 4

15.3.1 Performance Specifications ............................................................................................................................................. 15 - 4

15.3.2 Names and Roles of Built-in Cnet Components .............................................................................................................. 15 -5

15.3.3 Cable Specifications .......................................................................................................................................................... 15 -6

15.3.4 Termination Resistor ......................................................................................................................................................... 15 -7

15.4 Performance Specifications ..................................................................................................................................................... 15 -8

15.4.1 Operation Mode Setting ................................................................................................................................................... 15 - 8

15.4.2 Operation by Channel ...................................................................................................................................................... 15 - 9

15.4.3 Channel Operation in Repeater Mode ......................................................................................................................... 15 – 10

15.4.4 Serial Connection Methods ........................................................................................................................................... 15 – 10

15.5 Installation and operation ....................................................................................................................................................... 15 -11

15.5.1 Parameter information for communication mode.......................................................................................................... 15 - 11

15.5.2 Device Information.......................................................................................................................................................... 15 - 15

15.5.3 Device Area Information................................................................................................................................................. 15 - 17

15.6 Cnet Communication System Configuration........................................................................................................................ 15 - 18

15.7 Communication parameter ..................................................................................................................................................... 15 - 22

15.7.1 Summary........................................................................................................................................................................... 15 - 22

15.7.2 Downloading Parameters................................................................................................................................................. 15 - 26

15.7.3 Server Function and P2P Service ................................................................................................................................... 15 - 28

15.7.4 Start operation................................................................................................................................................................... 15 - 34

15.7.5 Diagnostic Function of XG5000 ....................................................................................................................................... 15 - 40

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 Table of Content

15.8 XGT Communication............................................................................................................................................................... 15 - 49

15.8.1 XGT Protocol Overview.................................................................................................................................................... 15 - 49

15.8.2 P2P service ...................................................................................................................................................................... 15 – 50

15.8.3 XGT communication function........................................................................................................................................... 15 - 67

15.8.4 P2P Commands ............................................................................................................................................................... 15 - 77

15.9 LS Bus Protocol ....................................................................................................................................................................... 15 - 80

15.9.1 LS Bus Protocol Architecture ........................................................................................................................................... 15 - 80

15.9.2 Command Details............................................................................................................................................................. 15 - 82

15.10 Modbus Protocol ................................................................................................................................................................... 15 - 86

15.10.1 Modbus Communication Setting Procedures ............................................................................................................... 15 - 86

15.10.2 Modbus Protocol............................................................................................................................................................ 15 – 86

15.10.3 Frame Structure.............................................................................................................................................................. 15 - 88

15.10.4 Modbus server................................................................................................................................................................ 15 - 99

15.10.5 Modbus RTU / ASCII client .......................................................................................................................................... 15 - 105

15.10.6 Frame monitor .............................................................................................................................................................. 15 - 110

15.11 User Defined Communication Service ............................................................................................................................... 15 - 112

15.11.1 Summary ....................................................................................................................................................................... 15 -112

15.11.2 User-defined frame configuration ................................................................................................................................ 15 - 113

15.11.3 Create Frame................................................................................................................................................................ 15 - 115

15.11.4 Frame monitor ............................................................................................................................................................. 15 – 122

15.11.5 User-defined communication commands ................................................................................................................... 15 - 123

15.12 Program examples .............................................................................................................................................................. 15 - 125

15.12.1 How to set each operation mode................................................................................................................................. 15 - 125

15.12.2 Dedicated Communication Examples......................................................................................................................... 15 - 130

15.12.3 Modbus Communication Examples ............................................................................................................................ 15 - 138

15.12.4 User-Defined Communication Examples..................................................................................................................... 15 -146

15.13 Diagnostic Functions ........................................................................................................................................................... 15 - 153

15.13.1 Diagnostic Function of XG5000................................................................................................................................... 15 - 153

15.13.2 Protocol-specific error codes........................................................................................................................................ 15 - 160

15.13.3 Troubleshooting ............................................................................................................................................................ 15 - 162

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 Table of Content

Appendix 1 Flag List …………………………………………………………………………………………………………… A1-1~A1-18

Appendix 2 Error Information & Measurement ……………………………………………………………………………… A2-1~A2-58

Appendix 3 Setting Example ………………………………………………………………………………………………… A3-1~A3-17

Appendix 4 Dimension ………………………………………………………………………………………………………………… A4-1

Appendix 5 ESC (EtherCAT Slave Controller) Register ……………………………………………………………………… A5-1~A5-4

Appendix 6 Using EtherCAT slaves from other companies …………………………………………………………………… A6-1~A6-7

Appendix 7 Cnet communication terminology explanation …………………………………………………………………… A7-1~A7-5

Appendix 8 EtherCAT Diagnostics …………………………………………………………………………………………… A8-1~A8-10

29
Table of Content

30
 Chapter 1 Overview

Chapter 1 Overview

This user’s manual describes the standard of motion controller, installation method, the method to use each function, programming
and the wiring with external equipment.

1.1 Characteristics

The characteristics of motion controller are as follows. Motion controllers are used for overall control purposes that require the functions
listed below.
(1) Various motion control function
It has various functions needed for motion control system such as position control, speed control etc.
(a) It supports various motion control commands.
1) It supports a number of function blocks.
2) It supports a number of motion function blocks compliant to PLCopen standards.
3) Motion programs are supported in the form of LD or ST by using XG5000.
(b) It can control actual/virtual axis of up to 32 axes, virtual axis of 4 axes. The actual axis of 32 axes can be set and operated as a
virtual axis. EtherCAT I/O of 64 slaves, and supports digital input 8 points, digital output 16 points,, analog input 2 channels,
analog output 2 channels and encoder input of 2 channels.
(c) Various sing-axis operations are available.
1) Position control
2) Velocity Control
3) Synchronous Control
4) Torque Control
5) Multi-axis simultaneous start
(d) Various multi-axis group operations are available.
1) Circular interpolation
2) Linear interpolation
3) Helical interpolation
4) Group homing / Changes group position
(e) Switching control in operation is available.
1) Position/Speed control switching
2) Position/Torque control switching
3) Speed/Torque control switching
(f) Cam Control is available.
By using XG5000, you can set profile data for cam control and use program commands to start and cancel cam operation, and
to skip cam. Users can create up to 32 cam profiles.
(g) Various Homing Control Function.
As for a homing method, you can use Homing method supported by each servo drive model. (Refer to the instruction manual of
each servo drive for more detailed homing methods and servo parameter settings.)
(h) For the Acceleration/Deceleration method, trapezoidal acceleration/deceleration and S-shaped acceleration/deceleration is
supported, and S-shaped acceleration/deceleration can be implemented by setting jerk on a motion function block.

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 Chapter 1 Overview

(2) Speed-up of execution of the motion program

Through realization of speed-up of processing at the time of start-up operation, the motion program set as main task can be
performed at up to 0.5ms intervals.
In addition, there is no delay time between axes in Simultaneous start and interpolation start.
(3) Connection with the servo driver through EtherCAT*1
(a) Direct connection to servo drives of up to 32 units and EtherCAT I/O of up to 64 units can be achieved through EtherCAT.
(b) Since the connection between motion control module and servo drive is made using Ethernet cables. So wiring is simple.
(c) You can easily check and set up the servo driver information and parameter at the Motion Control module
(d) Max. Connection distance is 100m.
(4) Able to realize the absolute position system
You can realize the absolute position system just by connecting to the servo drive using the absolute position encoder and in case
of ON/OFF, it can know the current position of the motor without homing. In order to use the absolute position encoder of the
L7N/L7NH series servo drive, a battery must be installed.
(5) Easy maintenance
As retain registers, parameters, cam data and location data are stored within the motion controller, data can be stored without delay,
and there is no limited number of writes.
(6) Self-diagnosis, monitoring and test are available with strong software package, XG5000.
(a) Monitoring function (Module & Servo driver)
(b) Trace function
(c) Trend function
(d) Reading and saving module program/parameter
(e) Reading and saving servo parameter
(f) Creation of CAM data
(g) Providing details about errors and the solution for it
(h) Print function of various forms

Notes
1. What is EtherCAT?
EtherCAT, Open Industrial Ethernet Solution, is developed by Beckhoff at 2002 and at 2003, November EtherCAT
Technology Group (ETG-http://www.ethercat.org) is organized and it opens its technology. At 2005, February, that is
authorized as IEC standard specification. Because of fast control speed and easiness for use and maintenance, it is widely
used in the industrial field and conforming its performance
In our positioning module, data communication with service driver is done with master-slave method through EtherCAT, and
electric Ethernet Cable is used.

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 Chapter 1 Overview

1.2 Signal Flow of Motion Controller

The flow of system using the motion controller is as follows.

PLC/HMI
Writing sequence Program

Setting for control

- Motion program
- Operation parameter Encoder 1/2
- Cam data
- Servo parameter
XG5000 Digital I/O
Motion Controller
Test Operation XMC-E32A(c)
- Connection/Disconnection
- Servo On/Off Analog I/O
- Absolute/Incremental Command
position control position/speed/torque Motor position, speed, servo
- Jog Operation, etc Slave parameter setting parameter, external I/O
value, etc signal, etc
Monitoring operation of
Motion Control module &
Servo drive and executing
Servo Drive
test External signal EtherCAT I/O External signal

Connected with Motion Control

module through EtherCAT
Motor

Working by Servo drive

Working

1-3
 Chapter 1 Overview

1.3 Function Overview of Motion Controller

Describe Representative functions of motion controller (Coordinate & Linear Interpolation, Circular Interpolation & Stop) briefly.

1.3.1 Position Control

Execute positioning control for the designated axis from starting position (current position) to goal position. (the position to move to)

(1) Control by Absolute coordinates

(a) Execute positioning control from starting position to goal position designated in motion function block.
(b) Position control is executed based on position (the origin position) specified in the homing.
(c) Moving direction is decided by starting position and goal position.
■ Starting Position < Goal Position : Forward Positioning Operation
■ Starting Position > Goal Position : Reverse Positioning Operation

[ Example ]
■ Starting Position : 1000
■ target Position : 8000
Value of Forward movement is 7000 (7000=8000-1000)

0 1000 8000

Movement Value 7000

Starting Position Goal Position

(2) Control by Incremental Coordinates

(a) Execute positioning control from starting position as much as goal movement value.
The difference from absolute coordinates control is that the goal position is movement value, not position value.
(b) Moving direction depends on sign of movement value.
■ Positive value (+ or 0) : Positioning operation with forward direction
■ Negative value (-) : Positioning operation with reverse direction

Starting Position

Reverse Forward

Negative value Positive value

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 Chapter 1 Overview

[ Example ]
■ Starting Position : 5000
■ Target Position : -7000
In this condition, it moves reversely and stops at -2000.

-2000 0 5000

Reverse positioning control(movement value -7000)

Goal Position Starting Positon

1.3.2 Interpolation Control

(1) Linear Interpolation Control
Execute Linear interpolation control with designated axis at start position. (Current position)
Combination of interpolation axis is unlimited and maximum 10 axes linear interpolation control is available.

(a) Linear interpolation by absolute coordinates

1) Execute Linear interpolation from starting position to goal position designated by positioning data.
2) Positioning control is executed based on home position designated in homing.
3) Movement direction is designated by starting position & goal position of each axis.
■ Starting position < Goal position : Positioning operation with forward direction
■ Starting position > Goal position : Positioning operation with reverse direction

Y axis Forward direction

Y2
Y axis
movement Starting position(X1, Y1) Goal position(X2, Y2)
value
Y1 Operating by linear
X axis interpolation X axis
Reverse Forward
direction direction
X axis movement value
X2
Y axis Reverse direction X1

[ Example ]
■ Start position(1000, 4000),
■ Target position (10000, 1000)
The action is as follows in the condition above

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 Chapter 1 Overview

(Y axis)
Starting
4000 position

Y axis movement value

(1000-4000=-3000)

Goal
1000 Position
X axis
0
1000 5000 10000

X axis movement value (10000-1000=9000)

(b) Linear Interpolation by incremental coordinates

1) Linear interpolation is performed from the start address to the position including the target movement direction and
movement amount for each axis.
2) Moving direction depends on movement value is positive or negative.
■ When the sign of movement distance is positive (+ or no sign): Positioning operation in forward direction (star
ting position increase direction)
■ When the sign of movement distance is negative ( - ): Positioning operation in reverse direction (starting posit
ion decrease direction)

Y axis Forward direction

Y2
Y axis
movement Starting position(X1, Y1) Linear interpolation end
value position(X2, Y2)
Y1
Movement by Linear interpolation
X axis X axis
Reverse Forward
direction X axis movement value direction
X2
Y axis Reverse direction X1

[ Example ]
■ Start position (1000, 4000),
■ Target position (9000, -3000)
The action is as follows in the condition above

(Y axis)
Starting
4000 position

Y axis
movement value
(-3000) Linear
interpolation end
1000 position

(X axis)
0
1000 5000 10000

X axis movement value(9000)

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 Chapter 1 Overview

(2) Linear Interpolation Control

Execute interpolation operation along the trace of circle with 2 axes in forward direction that already designated for ea
ch axis. Circular interpolation has 3 types according to auxiliary point, Middle point method passing auxiliary point, Cen
ter point method using auxiliary point as center of circle and Radius method using auxiliary point as radius of circle.
The combination of 2 axes for circular interpolation is unlimited. Any of the two axes from the actual axes (1-axis to 32
-axis) or virtual axes (1-axis to 36-axis) can be used.)

(a) Circular interpolation with middle point designation form.

1) Starts operating at starting position and executes circular interpolation through the designated middle point.
2) There will be a circular arc whose center point is crossing point of perpendicular bisection between starting posi
tion and middle point or middle point and goal position.

Forward
direction Middle point position

Goal position

Center point
of circular arc
Starting point

Reverse Forward
direction direction
Reverse Origin
direction

3) Movement direction is decided automatically depends on set target position and auxiliary point of circular interpol
ation.

(b) Circular interpolation with center point designation form

1) Starts operating from starting position and execute circular interpolation along trace of circle that has distance fr
om starting point to designated center point as radius.

Forward Direction
Goal
Operating by circular interpolation
Position

Starting
position Center point
of circular arc
Radius

Reverse Forward
Direction Direction
Origin
Reverse Direction

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 Chapter 1 Overview

2) If the goal position is same as starting position, it is available to have an operation like a circle that has dista
nce from starting point to auxiliary point as its radius.

Forward Direction
Operating by circular interpolation

Center point
of the circle

Starting position
& Goal position

Reverse Forward
Direction Direction
Origin
Reverse Direction

3) The direction of movement is determined according to the selection of paths (CW, CCW) to be set at the tim
e of motion function block.

(c) Circular interpolation with radius designation form

1) Starts operating from starting position and execute circular interpolation along trace of circular arc that has value
designated in auxiliary point of main axis as it radius. An arc whose central point varies depending on the sign
of the radius is drawn.

Forward Direction Operating by circular interpolation when

the sign of the radius < 0

Circular angle >= 180°

Center
point

Op e rat in g b y ci rcul a r
in terpola tion whe n the
Starting Circular angle sign of the radius > 0
< 180°
Reverse Position Forward
Direction Direction
Origin
Reverse Direction Center
point

2) In circular interpolation of radius specification method, the target position cannot be set the same as starting po
sition.
3) The operational directions and the size of the arc are determined by the path selection (CW, CCW) of circular
interpolation commands and the sign of the radius.

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 Chapter 1 Overview

(3) Helical interpolation Control

(a) Moves along the designated trace of circular arc depending on circular arc interpolation setting and executes Linea
r interpolation synchronously.
(b) There is no limit to the combination of axes to be used in helical interpolation, and three axes from actual axis (1
axis to 32 axes) or virtual axis (1 axes to 36 axes) are used. The three axes used for helical interpolation are [A
xis Setting 1], [Axis Setting 2], and [Axis Setting 3] of the axis group. The corresponding axis settings are matche
d to the X, Y, and Z axes.
(c) Helical interpolation control is possible using the MC_MoveCircularAbsolute and MC_MoveCircularRelative command
s.
(d) The starting position of the helical interpolation control in the figure below is the command position when the com
mand is executed.
(e) The input variable EndPoiont of the MC_CircularAbsolute and MC_MoveCircularRelative commands sets the end p
osition of the figure below. EndPoint[0] corresponds to the X axis, EndPoiont[1] corresponds to the Y axis, and E
ndPoiont[2] corresponds to the Z axis coordinates.

+Z

End Helical
position Interpolation
Straight
interpolation
Part

+Y

Center
Position
+X
Starting
Position Circular interpolation part

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 Chapter 1 Overview

1.3.3 Speed Control

(1) Execution is made by speed control commands, and the operation proceeds at the established rate until buffer comm
ands are executed, or stop commands are entered.
(2) Speed control has forward operation and reverse operation.
(a) Forward direction: In case of velocity > 0 and forward direction, or velocity < 0 and reverse direction
(b) Reverse direction: In case velocity > 0 and reverse direction, or velocity < 0 and reverse direction.
(3) Operation timing

Speed

Time

Operation
Command

In
Operation It will not be ON
even though stop
Signal of positioning
complete

Stop command

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 Chapter 1 Overview

1.3.4 Torque Control

(1) The execution is made by the torque control command, and the operation is done in the set torque until the buffer c
ommand or stop command is entered.
(2) Torque control includes forward operation and a reverse operation..
(a) Forward direction: In case of torque > 0 and forward direction, or torque < 0 and reverse direction
(b) Reverse direction: In case torque > 0 and reverse direction, or torque < 0 and reverse direction.
(3) Operation timing

Torque

Time

Operation
Command

In
Operation It will not be ON
even though stop
Signal of positioning
complete

Stop command

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Chapter 1 Overview

1-12
 Chapter 2 Specifications

Chapter 2 Specifications
2.1 General specifications

The following table shows the general specification of XGT series.

Relevant
No. Item Specifications
specifications
Ambient
1 0 ~ 55 ℃ -
temperature
Storage
2 -25 ~ +70 ℃ -
temperature
Ambient
3 5 ~ 95%RH (Non-condensing) -
humidity
Storage
4 5 ~ 95%RH (Non-condensing) -
humidity
In case of occasional vibration - -
Frequency Acceleration speed Amplitude Number
5 ≤ f < 8.4Hz − 3.5mm
Vibration 8.4 ≤ f ≤ 150Hz 9.8m/s2{1G} −
5
resistance In case of continuous vibration 10 times for each IEC61131-2
Frequency Acceleration speed Amplitude direction of X, Y and Z
5 ≤ f < 8.4Hz − 1.75mm
8.4 ≤ f ≤ 150Hz 4.9m/s2{0.5G} −
Maximum shock acceleration: 147㎨{15G}
Shock
6 Duration: 11ms IEC61131-2
resistance
Pulse waveform: Half-sine (3 times for each direction of X, Y and Z)
Square wave AC: ± 1,500 V LS ELECTRIC
impulse noise DC:± 900 V standard
Electrostatic IEC61131-2
Voltage : 4kV (contact discharging)
discharge IEC61000-4-2
Noise Radiated
7 IEC61131-2,
resistance electromagnetic 80 ~ 1,000 ㎒, 10 V/m
IEC61000-4-3
field noise
Classificati Digital/analog I/O,
Fast transient /Burst Power IEC61131-2
on Communication interface
noise IEC61000-4-4
Voltage 2kV 1kV
Operating
8 Free from corrosive gases and excessive dust -
atmosphere
9 Altitude Up to 2,000m -
Pollution
10 Less than equal to 2 -
degree
11 Cooling Air cooling -

Notes
IEC (International Electrotechnical Commission)
An international nongovernmental organization which promotes internationally cooperated standardization in electric/electronic
field, publishes international standards and manages applicable estimation system related with.
2) Pollution degree
An index indicating pollution degree of the operating environment which decides insulation performance of the devices. For
instance, Pollution degree 2 indicates the state generally that only non-conductive pollution occurs. However, this state contains
temporary conduction due to dew produced.

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 Chapter 2 Specifications

2.2 Power specification

The following table shows the power specifications of motion controller.

Specifications
Item
AC Power DC Power
Rated input voltage AC100V ~ AC240V DC19.2 ~ 28.8V
Input frequency 50/ 60 ㎐ −
0.7A or less (AC110V)
Input current 1.6A or less
0.4A or less (AC120V)
Input Inrush current 120Apeak or less(AC240V, Phase 90 degree) 100Apeak or less (DC28.8V)
Leakage current 3mA or less 3mA or less
Efficiency 65% or more 65% or more
Permitted momentary 10ms or less
10ms or less
power failure
Output voltage ripple Output voltage ripple
Voltage Current Current
range range
Output voltage
+5V 4.90~5.20V 4A 4.90~5.15V 4A
+24V 21.1~26.9V 0.4A − −
Output Output Ripple Noise Ripple Noise
Ripple & Noise +5V 100mVpp or less 200mVpp or less 100mVpp or less 200mVpp or less
+24V 400mVpp or less −
Over current +5V 4.4A or higher 4.4A or higher
protection +24V 0.44A or higher −
For protection of the power supply, you are recommended to use the power supply with the maximum of 4A fuse.

Notes

1) Allowable instantaneous interruption time

It is the time to maintain the normal output voltage (normal operation) on the condition that the input voltage of
(AC110/220V) is lower than the maximum/minimum (AC85/170V).
2) Over current protection
(1) If the current over the standard flows in DC5V, DC24V circuit, the over current protection device shutdowns the
circuit to stop the system.
(2) If overcurrent occurs, after removing the causes such as shortage of current capacity, short circuit, etc., restart
the system.
3) Over voltage protection
If the voltage over the standard is applied in DC5V circuit, the over voltage protection device shutdowns the
circuit to stop the system.
4) Use UL approved power supply.
Use a UL certified product for the power supply. Use a power supply that meets Class 2 or LVLC (Limited
Voltage Limited circuit).

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 Chapter 2 Specifications

2.3 Performance specifications

The following table shows the Performance specifications of motion controller.

2.3.1 Performance specifications

XMC-E32A XMC-E16A XMC-E08A
Item
XMC-E32C - -
Main task/Periodic task: Fixed cyclic operation, reiterative operation
Operation Method
initialization task: Only once at the time of entering the RUN
Main Task Time: 0.5ms, 1ms, 2ms, 4ms
Control cycle
Periodic task time: Multiple setting of main task
I/O control method Synchronism with main task cyclic (Refresh method)
Program language Ladder Diagram(Function block), Structured Text, G-Code
Operator 18
Basic function 202
Number of Basic function
instruction 174
block
Special
function block 97

Calculation Basic 6.25ns or more (General point/coil)

processing MOVE 5ns or more (Word type)
Speed Arithmetic 30ns or more (Word type)
Program Quantity Max. 256
Memory Capacity 10MB(Motion program, ), 10MB(NC program)
Automatic 4,096KB(Retain setting available up to 2,048KB)
variable (A)
Input variable(I) 16KB
Output
variable(Q) 16KB

Data Direct variable 2,048KB(Retain setting available up to 1,024KB)

(M)
Memory
F 128KB
K 18KB
Flag U 1KB
variable
L*Note 3) 22KB
N*Note 3) 49KB
No limit in points
Timer
Time range: 0.001~ 4,294,967.295sec(1,193hour)
No limit in points
Counter
Counting range: 64 bit range
Configuration of program Initial program, Main task program, Periodic task program, NC program
Operation mode RUN, STOP
Restart mode Cold, Warm
Cyclic error monitoring, time share over detection of task program, memory abnormal, power
Self-diagnostics function
abnormal, etc.
Data retention in case of power
failure Retain area setting in basic parameters or Retain setting when setting variables

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 Chapter 2 Specifications

XMC-E32A XMC-E16A XMC-E08A

Item
XMC-E32C - -
Real/Virtual Axes Axis 32 Axis 16 Axis 8
Control Dedicated Virtual Axis Axis 4 Axis 2 Axis 1
Axis/Slave Slave
64 slave 32 slave 16 slave
(Including Real Axes)
Module types EtherCAT (CoE: CANopen over EtherCAT, FoE: File Access over EtherCAT)
Communication Period 0.5ms, 1ms, 2ms, 4ms (Same as the Main Task Period)
Servo drive support Servo drive to support EtherCAT CoE
Control unit pulse, mm, inch, degree
Control method Position, Velocity, Torque (Servo drive support), Synchronous, Interpolation Control
Position address range ± LREAL, 0
Speed range ± LREAL, 0
Torque unit Rated torque % designation
Acc./Dec. processing Trapezoid type, S-type (Setting by specifying Jerk at a function block)
Rage of Acc./Dec. +LREAL*Note 1),0
Manual operation JOG Operation
Cam Operation 32 profiles/ 16 profiles/ 8 profiles/
32,768 points 16,384 points 8,192 points
Absolute position system Available (When using an absolute encoder type servo drive)
Digital input 8 points
Digital output 16 points (Transistor)

Digital I/O 2 channels

Max. input: 500Kpps
Encoder input
Input method: Line drive, Voltage input
Input type: CW/CCW, Pulse/Direction, Phase A/B
2 channels
Voltage input range: -10~10V / 0~10V / 1~5V / 0~5V
Analog input
Current input range: 4~20mA / 0~20mA
Analog
input/output Max. resolution: 14bit(1/16,000)
Note 2)
2 channels
Analog output Voltage Output range: Output range: -10~10V / 0~10V / 1~5V / 0~5V
Max. resolution: 14bit(1/16,000)

Serial Port RS-232C : one port, RS-485 one port

communicati XGT dedicated protocol, Modbus protocol, User-defined protocol, LS bus (inverter protocol)
onnote3) Protocols supported
support
Coordinate system function (Robot) Cartesian, Delta
Memory type Micro SDHC
File system FAT32
SD memory
Maximum Capacity 32GB (Memory over 8GB can use only 8GB of overall area)
Service Program back-up/restoration, Booting operation, Data logging

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 Chapter 2 Specifications

XMC-E32A XMC-E16A XMC-E08A

Item
XMC-E32C - -
Communication
Auto/10Mbps/100Mbps
speed
Communication
port 1 port

Ethernet Communication
distance Max. 100m between nodes
Loader service (XG5000)
LS ELECTRIC protocol supported (XGT, MODBUS TCP)
Service FTP server: Function to read/write files of the SD memory card from other devices
SNTP client
Characteristics USB 2.0, 1 channel
USB
Service The loader service (XG5000) is supported
Error indication Indicated by LED
Weight 790g
Note1) LREAL range: 2.2250738585072e-308 ~ 1.79769313486232e+308
Long real number (+LREAL) positive range: 0 < x ≤1.79769313486232e+308
Note2) the analog function is supported only by analog-type products (XMC-E32A/E16A/E08A).
Note3) the serial communication function is supported only by communication-type products (XMC-E32C).

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 Chapter 2 Specifications

2.3.2 EtherCAT Communication specifications

Item Specifications

Communication protocol EtherCAT

Support specification CoE(CANopen over EtherCAT)

Physical layer 100BASE-TX

Communication speed 100Mbps

Topology Daisy Chain

Communication cable Cat. 5 STP(Shielded Twisted-pair) cable

Number of maximum
64(Able to mapping Max. 32 drive to motion axis)
slave
Communication period 0.5ms/1ms/2ms/4ms

Synchronous Jitter Less than 1 ㎲

Synchronous
PDO(Process Data Object) Mapping through CoE
communication
Non-synchronous
SDO(Service Data Object) communication through CoE
communication
Communication setting Set the communication configuration using XG5000
Maximum transmission
100m
distance
Indicates the
LED
communication status

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 Chapter 2 Specifications

2.3.3 Internal input/Output Specification

(1) Input specifications (source/sink type)

Item Specifications

Input point 8 points

Insulation method Photo coupler insulation

Rated input voltage 24V

Rated input current About 5mA

Operation voltage range DC20.4V~28.8V (within ripple rate 5%)

On voltage/On current DC19V or more / 3mA or more

Off voltage/Off current DC6V or less / 1mA or less

Input resistance About 4.7 ㏀

Response OffOn
0.5/1/3/5/10/20/70/100 ㎳ (set by I/O parameter) Initial value: 3 ㎳
time OnOff

Insulation voltage AC560Vrms/3 Cycle (Altitude 2,000m)

Insulation resistance Insulation resistance 10 ㏁ or more

Common method 8 point/COM

Circuit configuration No. Point Type

00 %IX0.0.0

00
01 %IX0.0.1
R
02 %IX0.0.2

R 03 %IX0.0.3

04 %IX0.0.4
내부회로
07 05 %IX0.0.5

06 %IX0.0.6
COM
07 %IX0.0.7
COM
COM -
DC24V
COM -

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 Chapter 2 Specifications

(2) Output specifications (sink type)

Item Specifications

Output point 16 points

Insulation method Photo coupler insulation

Rated load voltage DC 12V / 24V

Used load voltage range DC10.2V~26.4V

Max. load current 0.5A / 1 point, 2A / 1COM

Off leakage current 0.1mA or less

Maximum inrush current 4A/ 10ms or less

Maximum voltage drop(On) DC 0.4V or less

Surge absorber Zener diode

OffOn 1ms or less

Response time
OnOff 1ms or less(Rated load, resistive load)

Common method 16 point / 1COM

Voltage DC12/24V±10% (Ripple voltage 4Vp-p or less)

External power
Current 10mA or less (DC24V connection)

Circuit configuration No. Point Type

00 %QX0.0.0
01 %QX0.0.1
02 %QX0.0.2
03 %QX0.0.3
04 %QX0.0.4
00 L 05 %QX0.0.5
R
06 %QX0.0.6
07 %QX0.0.7
내부회로
08 %QX0.0.8
15 09 %QX0.0.9
L
10 %QX0.0.10
V+
11 %QX0.0.11
COM 12 %QX0.0.12
DC12/24V 13 %QX0.0.13
14 %QX0.0.14
15 %QX0.0.15
V+ -
COM -

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 Chapter 2 Specifications

2.3.4 Input specifications of Encoder

Item Specifications
Input voltage 5V (3V ~ 6V)
input current 2 ㎃ to 7.5 ㎃
Min. On guarantee In accordance with RS-422A Line Driver Level
2.5V
voltage
Max. Off guarantee
1V
voltage

1) Pulse width

Over 2.5㎲

Over 1.25㎲ Over 1.25㎲

2) Phase difference
Input pulse
When A phase input pulse is
ahead of B phase input pulse
A : Position value increases
phase
When B phase input pulse is
B ahead of A phase input pulse
phase : Position value decreases
Over 0.625㎲

Contact
Circuit configuration Signal name Type
Point

5V
ENC1 A+ Encoder A+ input
*Note
1) DC5V A ENC1 A- Encoder A- input
B ENC1B+ Encoder B+ input

0V
ENC1B- Encoder B- input

A+
ENC2 A+ Encoder2 A+ input
*Note 5V
A- ENC2 A- Encoder2 A- input
2) DC5V
B+ ENC2 B+ Encoder2 B+ input
0V B-
ENC2 B- Encoder 2 B- input

Caution
Note 1 : Encoder of 5V voltage output type(Open collector) When using 12V, 24V type MPG, change the input voltage from
5V to 12V or 24V and in case of 12V, connect 910Ω resistor to ENC1 A+(pin 1), ENC1 B+ (pin3), in case of 24V, 2.4㏀
resistor, before connecting the power source (adding PULL-UP resistor is needed)
Note 2 : Encoder of 5V voltage output type(Line driver)

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 Chapter 2 Specifications

2.4 Part names

Part names
(1) XMC-E32A
④
⑤ ⑥⑨ ⑭ ⑫
②

① ⑦ ⑧ ⑩ ⑪ ⑬

No. Name Content

① Power input AC 110/220V power input, LG terminal, DC24V output
Displays the motion controller’s operation mode.
- PWR(Red light on): The power is supplied
- RUN(Green light on): During RUN mode
- ERR(Flickering Red light): Occurrence of errors during operation
② Status display
- STATE (Red light on/Flickering Red light): When the SD card is
installed, the red light is turned On; when the SD card error occurs,
the red light is flickering.
- RD/WR(Flickering Red light): During SD memory reads or writes
③ SD card connector Connector with the SD memory card
Sets the motion controller’s operation mode.
- RUN: Program Execution
④ Mode switch
- STOP: program stop
- RST: Program’s operation is reset.
Press to button less than 3 second.
- Additional function(back-up, recover, compare) operation in
according to script setting
⑤ SD card command button Press to button over 3 second.
- SD Power On/Off
Pressing to button and power on
- Boot operation
⑥ USB connector Port to access to XG5000

⑦ Ethernet connector Port to communicate Ethernet

⑧ EtherCAT port Port to communicate EtherCAT

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 Chapter 2 Specifications

No. Name Content

⑨ Encoder input connector Connector that accepts encoder input signal

⑩ Digital input connector Connector that accepts digital input signal

⑪ Digital output connector A connector that outputs a digital output signal

⑫ Analog input connector Connector that accepts analog input signal

⑬ Analog output connector A connector that outputs analog output signal

⑭ Input/output display Digital input/oupt, Analog input/output, Encoder input

※ With exception of the outer part where the product name is shown, the XMC-E16A and XMC-E08A are identical to the XMC-

E32A.

Caution

After inserting the SD memory into the SD memory slot entrance (display①) as shown below, press the middle part
of SD memory (②) and install it completely. If the SD memory is not inserted correctly in the SD memory slot
(direction reversed, up / down (left / right) tilting or twisting) It may not operate normally.

①
②

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 Chapter 2 Specifications

(2) XMC-E32C
④
⑤ ⑥⑨ ⑭ ⑫
②

① ⑦ ⑧ ⑩ ⑪ ⑬

No. Name Content

①
~ Same as XMC-E32A -
⑪
Serial communication port
⑫ The port to execute RS-232C communication (connector)
(connector)
Serial communication port
⑬ The port to execute RS-485 communication (connector)
(connector)
⑭ Input/output display Digital I/O, Encoder input, Communication interface status display

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 Chapter 2 Specifications

Specification of Interface with External Device

(1) Pin arrangement of connector

Pin arrangement Signal name Signal direction

ENC1 A+ Encoder1 A+ input

ENC1 A- Encoder1 A- input
ENC1B+ Encoder1 B+ input
ENC1B- Encoder1 B- input
Input
ENC2 A+ Encoder2 A+ input
ENC2 A- Encoder2 A- input
ENC2 B+ Encoder2 B+ input
ENC2 B- Encoder2 B- input
IN0 Input signal 0
IN1 Input signal 1
IN2 Input signal 2
IN3 Input signal 3
Input
IN4 Input signal 4
IN5 Input signal 5
IN6 Input signal 6
IN7 Input signal 7
COM Input signal Common Input
OUT0 Output signal 0
OUT1 Output signal 1
OUT2 Output signal 2
OUT3 Output signal 3
OUT4 Output signal 4
OUT5 Output signal 5
OUT6 Output signal 6
OUT7 Output signal 7
Output
OUT8 Output signal 8
OUT9 Output signal 9
OUT10 Output signal 10
OUT11 Output signal 11
OUT12 Output signal 12
OUT13 Output signal 13
OUT14 Output signal 14
OUT15 Output signal 15
24V DC 24V
Input
GND DC 24V GND

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 Chapter 2 Specifications

Signal name Signal

Pin arrangement direction
V0+ Analog voltage input channel 0
I0+ Analog current input channel 0
COM0 Analog input 0 common
Input
V1+ Analog voltage input channel 1
I1+ Analog current input channel 1
COM1 Analog channel1 common
V0+ Analog voltage output channel 0+
V0- Analog voltage output channel 0-
V1, Analog voltage output channel 1+
Output
V1- Analog voltage output channel 1-
NC No Connection
NC No Connection

(2) Encoder part internal circuit

Classification Signal

*Note1 ENC1A+ Encoder1 A+ input

5V

A ENC1A- Encoder1 A- input

DC5V
B
ENC1B+ Encoder1 B+ input

0V ENC1B- Encoder1 B- input

ENC2A+ Encoder2 A+ input

*Note2
A+
5V ENC2A- Encoder2 A- input
A-
DC5V ENC2B+ Encoder2 B+ input
B+

0V B- ENC2B- Encoder2 B- input

Caution
*Note 1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type. When using 12V, 24V type MPG, change the
input voltage from 5V to 12V or 24V and in case of 12V, connect 910Ω resistor to ENC1 A+(pin 1), ENC1 B+ (pin3), in case of
24V, 2.4㏀ resistor, before connecting the power source (adding PULL-UP resistor is needed)

*Note 2
Wiring of encoder 2 is example about 5V voltage output type (line driver)

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 Chapter 2 Specifications

This describes the internal circuit of the module when connecting the encoder.

Input/output
Internal circuit No. terminal Signal name
classification

① A+ A phase pulse input +

② A- A phase pulse input-

Input
① B+ B phase pulse input +

② B- B phase pulse input-

(3) Input part internal circuit

DC3.3V
9
R

Internal
내부회로
16
circuit

18
COM

DC24V

(4) Output part internal circuit

00 L

R
Internal
circuit
내부회로
15
L

DC12/24V

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 Chapter3 Operation Order and Installation

Chapter 3 Operation Order and Installation

3.1 Operation procedure
Here describes the Operation order of motion controller.

Start

Specify motion control operation method and control unit

Specify the number of axis to be connected

Specify the servo type and capacity

External emergency stop signal
Install the XG5000 on the PC External upper limit signal
External lower limit signal
Mount the motion controller on the base
Home signal
DOG signal
Connect the motor and external signal to the servo

Connect Ethernet communication cable between positioning module and

Max. Communication distance: 100m
servo, and between servos
Communication cable: STP cable

Turn the Servo on

Turn the motion controller on Check whether RDY LED is ON or not

Connect the communication cable between USB (Ethernet) ports of PC and

motion controller

Basic parameter, axis group parameter, master parameter,

Write the motion program and parameter of motion controller in the
common parameter, motion program
XG5000 and download it to the Controller

Allocate the axis number to each servo by using XG5000

Set up the servo axis and establish communication between Servo and
motion controller

Write the servo parameter in the XG5000 and download it to servo Reading/Writing servo parameter and servo tuning are
available by XG5000

Execute a test run by using XG5000

Check the operation status and modify the module parameter
and servo parameter

Write the program for motion control operation through XG5000

Start the motion control operation

End

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 Chapter3 Operation Order and Installation

3.2 Installation
3.2.1 Safety Precautions

Danger

Please design protection circuit at the external of Controller for entire system to operate safely because an abnormal
output or a malfunction may cause accident when any error of external power or malfunction of Controller.

(1) It should be installed at the external side of Controller to emergency stop circuit, protection circuit, interlock circuit of
opposition action such as forward /reverse operation and interlock circuit for protecting machine damage such as
upper/lower limit of positioning.
.
(2) If Controller detects the following error, all operation stops and all output is off.
Available to hold output according to parameter setting
(a) When over current protection equipment or over voltage protection operates
(b) When self-diagnosis function error such as WDT error in Controller occurs

When error about IO control part that is not detected by Controller, all output is off.
Design Fail Safe circuit at the external of Controller for machine to operate safely. Please refer to 3.5.1 Fail-Safe
Circuit Configuration Example
(1) Because of error of output device, Relay, TR, etc., output may not be normal. About output signal that may cause
the heavy accident, design supervisory circuit to external.

When load current is more than rating or over current by load short flows continuously, danger of heat, fire may occur
so design safety circuit to external such as fuse.

Design for external power supply to be done first after Controller power supply is done. If external power supply is
done first, it may cause accident by misoutput, misoperation.

In case communication error occurs, for operation status of each station, refer to each communication manual.
There may be a risk of accidents due to incorrect output and malfunction.

In case of controlling the Controller while peripheral is connected to Controller, configure the interlock circuit for system
to operate safely. During operation, in case of executing program change, operation status change, familiarize the
manual and check the safety status. Especially, in case of controlling long distance Controller, user may not response
to error of Controller promptly because of communication error or etc.
Limit how to take action in case of data communication error between Controller and external device adding installing
interlock circuit at the Controller program.

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 Chapter3 Operation Order and Installation

Danger
 Don’t close the control line or communication cable to main circuit or power line.
Limit how to take action in case of data communication error between Controller and external device adding installing
interlock circuit at the Controller program.
Distance should be more than 100mm. It may cause malfunction by noise.

In case of controlling lamp load, heater, solenoid valve, etc. in case of Off -> On, large current (10 times of normal
current) may flows, so consider changing the module to module that has margin at rated current.

Process output may not work properly according to difference of delay of Controller main power and external power for
process (especially DC in case of) Controller power On-Off and of start time.
For example, in case of turning on Controller main power after supplying external power for process, DC output
module may malfunction when Controller is on, so configure the circuit to turn on the Controller main power first
Or in case of external power error or Controller error, it may cause the malfunction.

Not to lead above error to entire system, part causing breakdown of machine or accident should be configured at the
external of Controller.

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 Chapter3 Operation Order and Installation

3.2.2 Installation Environment

This controller has a good reliability regardless of installation environment but cares should be taken in the following items to
guarantee the reliability and safety of the system.

(1) Environment Condition

(a) Install the control panel available for water-proof, anti-vibration.
(b) The place free from continuous impact or vibration.
(c) The place not exposed to direct rays.
(d) The place with no dew phenomena by rapid temperature change.
(e) The place where surrounding temperature maintains 0-55℃.
(2) Installation Environment
(a) In case of processing the screw hole or wiring, cares should be taken not to put the wiring remnants to PLC inside.
(b) Install on the good place to operate.
(c) Do not install the high voltage machine on the same Panel.
(d) The distance from duct or surrounding module shall be more than 50mm.
(e) Ground to the place where surrounding noise environment is good enough.

3.2.3 Precautions of Handling

Here describes the notices in handling the positioning module from opening to installation.
(1) Do not fall down or apply the strong impact.
(2) Do not remove PCB from the case. Doing so may cause failure of the module and/or printed-circuit board.
(3) In wiring, cares should be taken not to put the wiring remnants or foreign materials to the upper part of Controller. If
something entered, it should be removed.

3.2.4 Attachment/Detachment of motion controller

Caution
 Motion controller must be mounted to hook for fixation properly before its fixation.
The Controller may be damaged from over-applied force.

If module is not mounted properly, it may cause malfunction.

 Do not drop or impact the module case, terminal block connector.

Caution in handling

Use motion controller in the range of general specification specified by manual.

In case of usage out of range, it may cause electric shock, fire, malfunction, damage of product.

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 Chapter3 Operation Order and Installation

(1) Installation of motion controller

Motion controller has a hook for DIN rail (rail width: 35mm) so that can be installed at DIN rail.
(a) In case of installing at DIN rail
 Pull the hook as shown below for DIN rail at the bottom of motion controller and install it at DIN rail.
 Push the hook to fix the module at DIN rail after installing motion controller at DIN rail.

HOOK for DIN rail

(b) In case of installing at panel

 You can install motion controller onto a panel directly using screw hole.
 Use M4 type screw to install the product onto a panel.
 This product is designed so that PE and panel come in contact with each other through a screw at the bottom right
of the product. When installing on the panel, be sure to connect the screw in the bottom right side.

Screw for installing at panel

Screw for installing at panel (PE contact screw)

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 Chapter3 Operation Order and Installation

(2) Controller equipment location

Keep the following distance between module and structure or part for ventilation, easy detachment and attachment.

30㎜ or
higher*1
Motion Door
Controller

20㎜ or
30㎜ or higher*3
higher*1

5㎜ or 5㎜ or higher
higher*1

(3) Controller equipment direction

(a) For easy ventilation, install as shown below.

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 Chapter3 Operation Order and Installation

(b) Don’t install as shown below.

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Chapter3 Operation Order and Installation

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 Chapter3 Operation Order and Installation

(4) Distance with other device

To avoid radiation noise or heat, keep the distance between motion controller and device (connector and relay) as far as
the following figure.

OrOr more
more

Or more

Or more

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 Chapter3 Operation Order and Installation

3.3 Precautions in Wiring

3.3.1 Precautions of wiring

(1) The length of connecting cable between controller and drive machine shall be as short as possible.
(2) Use a separate cable from AC power for the signal line connected to the motion controller and the EtherCAT slave device,
and make sure that it is not affected by surges or induced noise from the AC side.
(3) The wires should be selected considering surrounding temperature, allowable current and it is recommended to be more than
max. size AWG22(0.3㎟).
(4) In wiring, if it is too close to the high temperature machine or material or it is directly contacted to the oil for a long time, the
short-circuit will occur that may cause the damage or malfunction.
(5) Make sure to check the polarity before applying the external contact signal to the terminal board.
(6) In case of wiring the high voltage cable and power cables together, the induction noise occurs that may cause the malfunction
or failure.
(7) In case of wiring by the pipe, the grounding of pipe is required.
(8) Connect the line between controller and EtherCAT slave device by using more than STP CAT-5 in wiring between controller
and drive unit.
(9) When a communication error(0x0F50, 0x0F51, 0x1F00, 0x1011, 0x2011, etc.) occurs in operation of controller, attach Ferrite
Core to communication cable connecting controller to EtherCAT slave device and run the controller because it may be
caused by noise interference in wiring between controller and EtherCAT slave device.
(10) When using the wiring connector for encoder signal and external I/O signal, install it on the place where there is no dust or
corrosive gas.

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 Chapter3 Operation Order and Installation

3.3.2 Power Wiring

(1) In case voltage regulation is larger than specified, connect constant voltage transformer.

AC
AC power
100V~240V power

Constant
voltage AC100-240V
transformer

(2) Connect the power source of which inter-cable or cable-ground noise is small.
(When there is much noise, connect insulated transformer.)

(3) Isolate the controller power, I/O devices and power devices as follows.

Main PLC
Constant
power power
voltage
AC220V
transformer

Input/output
power
SMPS
24V

Main circuit
device

(4) If using DC24V of the controller, do not connect DC24V of several power modules in parallel.

(5) AC power cables should be compactly twisted and connected in the shortest distance.

(6) AC power cables should be as thick as possible (2mm2) to reduce voltage drop.

(7) AC power cables should not be installed close to main circuit cable (high voltage/high current) and I/O signal cable. They
should be 100mm away from such cables

(8) Use the shielded insulation trans or noise filter when a noise invasion is expected.

(9) Wiring of each input power should be twisted as short as possible and the wiring of shielding transformer or noise filter
should not be arranged via a duct.

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 Chapter3 Operation Order and Installation

(10) To prevent surge from lightning, use the lightning surge absorber as presented below.

Controller
I/O device

E1 E2
Surge absorber to prevent lighting

Notes

1) Isolate the grounding (E1) of lightning surge absorber from the grounding (E2) of the controller.
2) Select a lightning surge absorber type so that the max. Voltage may not the specified allowable voltage of the
absorber.
3) When you use the magnetic lighting contactor (MC) for AC/DC, it is recommended to use a ferrite core close to
the power. terminals as shown below

Ferrite core
(CU1330B, E-TECH)
(CU1330G, E-TECH)
(ZCAT3035-1330, TDK)
(TU1335,ESONG EMC)

3.3.3 I/O devices wiring

(2) The size of I/O device cable is limited to 0.3~2 mm2 Please select a wire within the standard considering the convenience
of wiring.
(2) Please isolate input signal line from output signal line.
(3) I/O signal lines should be wired 100mm and more away from high voltagehigh current main circuit cable.
(4) Batch shield cable should be used and the motion controller side should be grounded unless the main circuit cable and
power cable cannot be isolated.

PLC Shield cable

Input
RA

Output DC

(5) When applying pipe-wiring, make sure to firmly ground the piping.

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 Chapter3 Operation Order and Installation

3.3.4 Grounding wiring

(1) This controller has two types of grounding systems such as LG and PE.

(2) LG ( ) is grounding for a power filter and used as a noise countermeasure. This controller performs sufficient noise
countermeasures, but it is recommended to use LG if there is no specific reason. For the location of LG, please refer to the
names of each part of 2.4.1.
(3) PE () is grounding to prevent an electric shock. It should be in contact with ground portion to prevent accidents. When Din
rail is installed, it is in contact with the DIN rail. When the panel is installed, it is contact with the panel through the screw for
panel installation. For the location of PE, please refer to Section 3.2.3 Installing and Removing the Motion Controller.

(4) Please refer to the following instructions for LG grounding.

(a) For grounding, please make sure to use the exclusive grounding. For grounding construction, apply type 3 grounding
(grounding resistance lower than 100Ω )
(B) If the exclusive grounding is not possible, use the common grounding as presented in B) of the figure below.

Controller Other Controller Other Controller Other

Type 3 Grounding Type 3 Grounding

(a) Exclusive grounding: best (b) common grounding: good (c) common grounding: defective

(c) Use the grounding cable more than 2 mm2. To shorten the length of the grounding cable, place the grounding point as
close to the controller as possible.
(d) If any malfunction from grounding is detected, separate the PE and LG.

Power Power Power

LG PE LG PE LG PE

(a) Exclusive grounding: best (b) common grounding: good (c) common grounding: defective

(5) PE( ) is basically in contact with DIN rail. However, if DIN rail is coated, it may not be grounded. In this case, use a

screw and connect ground wiring to the PE ( ) terminal.

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 Chapter3 Operation Order and Installation

3.3.5 Cable Specification for Wiring

The specifications of cable used for wiring are as follows.

Cable specification (mm2)

Types of external connection
lower limit Upper limit
Digital input 0.18 (AWG24) 1.5 (AWG16)
Digital output 0.18 (AWG24) 1.5 (AWG16)
Analog input/output 0.18 (AWG24) 1.5 (AWG16)
Communication 0.18 (AWG24) 1.5 (AWG16)
Main power 1.5 (AWG16) 2.5 (AWG12)
Grounding(LG) 1.5 (AWG16) 2.5 (AWG12)

Use the following specifications for the power cable.

Thermal Thermal
Connection type Cable specification (mm2) Tightening Torque
resistance resistance
Power and
1.5(AWG16)~2.5(AWG12) Copper 60℃ 0.51N•m
protection ground

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 Chapter3 Operation Order and Installation

3.3.6 Connection of Servo Drive

(1) This is an example of wiring from motion controller to XGT Servo L7NH series (EtherCAT servo drive/motor). Refer to
manual of each drive for details on installation and wiring.

Main OFF Main ON

RA

MC1 Ry1
NFB
MC1
Power R L1
AC200~ 230V S NF L2 XGT Servo
50/ 60 ㎐
T L3 XML-FB04AMK
*Note4
XDL-L7NHA004B
C1 U U
V V M
C2
W W
B+
*Note5 Regenerative ENC
resistor B/Bl E

Digital input
DC 24V Digital output
+24V IN 6 (DO1)
1 BRAKE+
3.3kΩ
2 BRAKE-
POT 11 (DI1)
(DO2)
(DI2) 17 ALARM+
NOT 12
(DI3) 18 ALARM-
HOME 7
(DI4) (DO3)
STOP 8 3 READY+

PCON 13 (DI5) 4 READY-

GAIN2 14 (DI6)
(DO4)
19 ZSPD+
(DI7)
PCL 9
20 ZSPD-
(DI8)
NCL 10
** INPOS1
PROBE1 ** ** TLMT
PROBE2 ** ** VLMT
EMG ** ** INSPD
A-RST ** ** WARN
LVSF1 ** ** TGON
LVSF2 ** ** INPOS2
SVON ** I/O
XMC-E32A

+
DC 5V
-
DC 24V
STO
*Note1 EMG
Safety Input Safety Output
Encoder1
5V 1 ENC1 A+ 3.3kΩ
STO1- 3 7 EDM+
A 2 ENC1 A-
B 3 ENC1 B+ STO1+ 4 8 EDM-
Z 4 ENC1 B- 3.3kΩ
STO2- 5
0V
STO2+ 6

Encoder2 *Note2 DC24V GND

5V
A+ 19 ENC2 A+
A- 20 ENC2 A-
EtherCAT Ethernet Cable
B+ 21 ENC2 B+
OUT IN
B- 22 ENC2 B-
Z+
Z-
OUT
*Note3
0V
Connect next servo drive

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 Chapter3 Operation Order and Installation

Caution
*Note 1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note 2
Wiring of encoder 2 is example about 5V voltage output type (line driver)
*Note 3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the motion controller’s OUT and for other servo
drivers, connect previous servo driver’s OUT to next servo driver’s IN. Last servo driver’s OUT doesn’t need to be connected. Axis
number can be set through “Slave/Axis Connection” in XG5000. However, when the servo drive is automatically connected, the
axis order is automatically set according to the connection order.
*Note 4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.
*Note 5
Use after making a short circuit between terminals B and BI as regenerative resistor of L7NHA001B~L7NHA004B (50[W],
100[Ω]), L7NHA008B~L7NHA010B (100[W], 40[Ω]), L7NHA020B~ L7NHA035B (150[W], 13[Ω]) is contained inside. In case of a
high regeneration capacity due to frequent acceleration/deceleration, open the shorting pin (B, BI) and connect external resistor to
B and BI to use.

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 Chapter3 Operation Order and Installation

(2) This is wiring example connecting SanMotion R Advanced Model EtherCAT servo drive/motor to motion controller. For detail
on installation and wiring, refer to the driver manual.

NFB
SanMotion R Advanced Model Servo Motor
*Note4 MC1
with EtherCAT Coe Interface
R U U
Power AC
200~230V NF S V V

50/60Hz *N ote4 T W W

FG FG
r
Operation
t Brake Power
+
MC ON OFF
Input
1 -

2
PG
3
Alarm Emergency
stop
4

RB1 5
Regenerative
resistor
EN1/2 6
RB2 7

8
CN3 9

OUT1+ 10
1
OUT1-
XMC-E32A 2
OUT2+ 3
OUT2- 4 CN2
CONT1+ 5
+ 1
BAT+
5V CONT1-
- 6
2
BAT-
CONT2+ 7
*Note1 3
CONT2- 8
Encode r1 1 4
5V ENC1 A+
2
A ENC1 A-
5
HWGOFF1+
3
B ENC1 B+ Connect to next servo driver *Note3
Z
4
ENC1 B- 6
HWGOFF1-
0V HWGOFF2+
7
CN1(EtherCAT Output) HWGOFF2-
*Note2 1~6 8
Encode r2 5V EDM+
19 9
A+ ENC2 A+
20
ENC2 A-
Ethernet Cable 10
EDM-
A-
21
ENC2 B+
OUT 1~6 CN0(EtherCAT Input)
B+
22
B- ENC2 B-
Z+
Z-
0V

Caution
*Note 1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note 2
Wiring of encoder 2 is example about 5V voltage output type (line driver)
*Note 3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the motion controller’s OUT and for other servo drivers, connect
previous servo driver’s OUT to next servo driver’s IN. Last servo driver’s OUT doesn’t need to be connected. Axis number can be set through
“Slave/Axis Connection” in XG5000. However, when the servo drive is automatically connected, the axis order is automatically set according to
the connection order.
*Note 4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.

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(3) This is wiring example connecting BeckHoff AX2000 servo drive/motor to motion controller. For detail on installation and
wiring, refer to the driver manual.

AX2000-B110 EtherCAT Drive

NFB MC1 X0A X9 Servo Motor
*Note4
L1 1 L1 W2 6 W
Power AC 200~230V L2 NF 2 L2 V2 5 V M
50/60Hz
L3 3 L3 U2 4 U
4 PE PE 3 PE

BRAKE+ 1 B+
X0B
BRAKE- 2 B-
1 L1
2 L2
Encoder
3 L3 X1
4 PE Resolver
Connect to the next servo driver X2
X4
1 X3
+24V
2
Analog-In 1+ 4
3
Analog-In 1- 5
XGND
4
AGND 1

XMC-E32A + - Analog-In 2+ 6

24V DC Analog-In 2- 7
Power supply
Analog-Out 1 8

AGND 10
5V
+ When connecting
external regenerative
X8 +24V
-
resistor, remove the Analog-Out 2 9
jumper 2 -RBint
DGND 18
*Note1 1 -RB
Encoder1 1
Regenerative PSTOP 13
5V ENC1 A+ resistor
2 3 -RBext
A
3
ENC1 A- NSTOP 14
B
4
ENC1 B+ 4 -DC DIGITAL-IN1 11
Z ENC1 B-
0V DIGITAL-IN2 12
Ethernet Cable
OUT IN ENABLE 15
Encoder2 *Note2
5V DIGITAL-OUT1 16
A+
19
ENC2 A+ X11
A-
20
ENC2 A- DIGITAL-OUT2 17
21
ENC2 B+
OUT
B+ 2
22
B- ENC2 B- BTB/RTO
Z+ 3
Z-
0V
Connect to the next servo driver *Note3

Caution
*Note 1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note 2
Wiring of encoder 2 is example about 5V voltage output type (line driver)
*Note 3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the positioning module’s OUT and for other servo drivers, connect
previous servo driver’s OUT to next servo driver’s IN. Last servo driver’s OUT doesn’t need to be connected. Axis number can be set through
“Slave/Axis Connection” in XG5000. However, when the servo drive is automatically connected, the axis order is automatically set according to
the connection order.
*Note 4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.

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3.3.7 Encoder Input (DC5V Voltage Output) Wiring Example

When pulse generator is a voltage output type, wiring example of motion controller and encoder input part is as follows.
In case that pulse generator is totem-pole output which is used as voltage output, wiring method is same with above.

XMC-E32A

Twisted shielded cable

A phase +
OUTA

A phase -

B phase +
OUTB

F.G 0V 5V
B phase -

5 V DC

Notes
Before Wiring, please consider maximum output distance of pulse generator.

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 Chapter3 Operation Order and Installation

3.3.8 Encoder Input (5V Line Driver Output) Wiring Example

XMC-E32A

Twisted shielded cable

OUTA+
A phase +

OUTA-
A phase -

OUTB+
B phase +

OUTB-
B phase -
F.G 0V 5V

5 V DC

Notes
Before Wiring, please consider maximum output distance of pulse generator.

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3.3.9 External input signal wiringexample

XMC-E32A
External input
point signal
00
R

Internal
07 circuit

COM

DC24V

3.3.10 External Output signal wiringexample

XMC-E32A External output

point signal
00 L

R
Internal
circuit
15 L

DC12/24V

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3.4 EMC
3.4.1 EMC Standard
(1) EMC Standard

The EMC Directive specifies the products must 'be so constructed that they do not cause excessive electromagnetic
interference (emissions) 'and 'are not unduly affected by electromagnetic interference (immunity)'. The applicable products
are requested to meet these requirements. This section summarizes the precautions on conformance to the EMC Directive
of the machinery assembled using motion control.
The details of these precautions are based on the requirements and the applicable standards control. However, LSIS will not
guarantee that the overall machinery manufactured according to these details conforms to the below-described directives.
The method of conformance to the EMC directive and the judgment on whether or not the machinery conforms to the EMC
Directive must be determined finally by the manufacturer of the machinery.

(2) EMC Standard

The standards applicable to the EMC Directive are listed below.

Specifications Test item Test details Standard value

EN55011 Radiated noise ＊ Electromagnetic emissions from the 30~230 ㎒ QP: 50 ㏈㎶/m ＊1
2 product are measured 230~1000 ㎒ QP: 57 ㏈㎶/m
150~500 ㎑ QP: 79 ㏈
EN50081-2
Electromagnetic emissions from the Mean : 66 ㏈
EN55011 conducted noise
product to the power line is measured. 500~230 ㎒ QP: 73 ㏈
Mean : 60 ㏈
EN61000-4-2 Electrostatic Immunity test in which static electricity is 15 ㎸ Aerial discharge
immunity applied to the case of the equipment 8 ㎸ Contact discharge
Power line: 2 ㎸
EN61000-4-4 Immunity test in which burst noise is
Digital /O: 1 ㎸
Fast transient burst noise applied to the power line and signal lines
Analog I/O, signal lines: 1 ㎸
EN61131-2 EN61000-4-3 10Vm,26~1000 ㎒
Immunity test in which field is irradiated to
Radiated field AM 80%AM modulation@ 1 ㎑
the product
modulation
EN61000-4-12 Immunity test in which a damped Power line: 1 ㎸
Damped oscillatory wave oscillatory wave is superimposed on the Digital I/O (24V or higher): 1 ㎸
immunity power line
＊1: QP: Quasi-peak value, Mean: Average value
＊2: The motion controller is an open type device (device installed to another device) and must be installed in a conductive control
panel.

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 Chapter3 Operation Order and Installation

(3) Control Panel

The motion controller is an open type device (device installed to another device) and must be installed in a control panel.
This is needed to prevent electric shock by touching motion controller and reduce the motion controller-generated noise.
Install the motion controller in a metallic panel to reduce motion controller-generated EMI (Electro-magnetic interference), the
specifications for the control panel are as follows

1) Control panel
The motion controller control panel must have the following features:

(a) Use SPCC (Cold Rolled Mild Steel) for the control panel.
(b) The steel plate should be thicker than 1.6mm.
(c) Use isolating transformers to protect the power supply from external surge voltage.
(d) The control panel must have a structure which the radio waves does not leak out. For example, make the door as a box-
structure so that the panel body and the door are overlapped each other. This structure reduces the surge voltage
generate by PLC.

Panel

Door

Seal

(e) To ensure good electrical contact with the control panel or base plate, mask painting and weld so that good surface
contact can be made between the panel and plate.

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 Chapter3 Operation Order and Installation

2) Connection of power and earth wires

Earthing and power supply wires for the motion controller system must be connected as described below.

(a) Earth the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high
frequencies.
(b) The function of LG (Line Ground) and PE (Frame Ground) terminals is to pass the noise generated in the PLC system
to the ground, so an impedance that is as low as possible must be ensured.
(c) The earthing wire itself can generate the noise, so wire as short and thick to prevent from acting as an antenna.
(d) Attach ferrite core under the power cable to satisfy CE specification.

Ferrite core

[Reference product - ferrite core]

Dimensions (mm) Cable
Maximum
Vendor Product name Note
A B C D diameter
(mm)
Laird 28A3851-0A2 30.00 13.00 33.70 30.00 12.85 www.lairdtech.com
Laird 28A5776-0A2 29.20 20.00 42.00 42.00 19.40 www.lairdtech.com
Coilmaster C2L RU130B 31.50 13.00 33.00 31.50 13.00 www.coilmaster.com.tw
TDK ZCAT3035-1330 30.00 13.00 34.00 30.00 13.00 www.tdk.com

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 Chapter3 Operation Order and Installation

(4) Requirement to Conform to the Low-Voltage Directive

The low-voltage directive requires each device that operates with the power supply ranging from 50V to 1000VAC and 75V to
1500VDC to satisfy the safety requirements.
Cautions and installation and wiring of the motion controller series to conform to the low-voltage directive are described in this
section.
The described contents in this manual are based on the requirements and the applicable standards control.
However, LSIS will not guarantee that the overall machinery manufactured according to these details conforms to the above
regulation.
The method of conformance to the EMC directive and compliance to the EMC Directive must be determined by the
manufacturer of the machinery.

1) Standard applied for motion controller

The motion controller follow EN6100-1 (safety of devices used in measurement rooms, control rooms, or laboratories).
And the motion controller modules which operate at the rated voltage of AC50V/DC75V or above are also developed to
conform the above standard.

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3.5 Fail Safe

3.5.1 Fail Safe Circuit
(1) Example of system design
In case of AC in case of AC , DC

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 Chapter3 Operation Order and Installation

(2) Fail safe measures in case of motion controller failures

Failures of the motion controller and memory are detected by self-diagnosis but if there are some problems with I/O control
part, etc, the failure may not be detected from the motion controller. In this case, it can be different depending on the failure
status, all contacts may be On or Off so normal operation or safety of the controlled subject cannot be guaranteed.
We have done our best to assure quality but in case there are some problems with the PLC, please configure the fail safe
circuit on the outside to prevent damage of the equipment or accident due to some cause.
The below is the example of system configuration with the fail sage circuit.

[Example of failsafe circuit]

On delay timer

T1
%QX0.0.0
_T1S %QX0.0.0 Off delay timer
T2
External load MC
L
%QX0.0.1
~
%QX0.0.15
L
%QX0.0.
24V
0

0.5 sec 0.5 sec

- +
0V
DC24
T1 T2
Motion controller Output VMC

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 Chapter3 Operation Order and Installation

3.6 Maintenance

Be sure to perform daily and periodic maintenance and inspection in order to maintain the moiton controller in the best
conditions.

3.6.1 Maintenance and Inspection

The I/O module mainly consists of semiconductor devices and its service life is semi-permanent. However, periodic
inspection is requested for ambient environment may cause damage to the devices.
When inspecting one or two times per six months, check the following items.

Check Items Judgment Corrective Actions

Within change rate of input voltage
Power supply Hold it with the allowable range.
(Refer to general specifications)
Input/Output specification of each Hold it with the allowable range of each
Power supply for input/output
module module.
Temperature 0 ~ + 55℃ Adjust the operating temperature and
Operating Humidity 5 ~ 95% RH humidity with the defined range.
atmosphere Use vibration resisting rubber or the vibration
Vibration No vibration
prevention method.
There will be no shaking No play allowed Securely enrage the hook.
Check the connecting screws Screws should not be loose. Retighten terminal screws.
Check the number of Spare parts Cover the shortage and improve the
Spare parts
and their Store conditions conditions.

3.6.2 Daily inspection

The following table shows the inspection and items which are to be checked daily.
Check Items Check Points Judgment Action
Connection conditions of Retighten
Check the screws. Screws should not be loose.
base Screws.
Retighten
Check the connecting screws Screws should not be loose.
Connecting conditions of Screws.
terminal block or Check the distance between Proper clearance should be
Check screw
extension cable solderless terminals. provided.
Input/output connector Connector should not be loose. Check screw
PWR LED Check LED ON On (Off indicates an error)
Check that the LED is On during On (flickering or Off indicates an
RUN LED
Run. error)
Check that the LED is Off during
Display ERR LED Flickering indicates an error
Run.
LED
On when input is On,
Input LED Check LED turns On and Off
Off when input is off.
On when output is On,
Output LED Check LED turns On and Off
Off when output is off

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 Chapter3 Operation Order and Installation

3.6.3 Periodic Inspection

Check the following items once or twice every six months, and perform corrective actions as needed.
Check Items Checking Methods Judgment Action
Ambient temperature 0 ~ 55 °C Adjust to meet general
Measured with a
operating Ambient humidity 5 ~ 95%RH specification
thermometer/hygrometer
atmosphere There should be no (environment standard in
Pollution degree measure corrosive gas
corrosive gases control panel)
The module should be The module should be
Looseness, Ingress Retighten screws or hook
move the unit mounted securely.
Place the product
horizontally so that dust
does not enter the
Controller
ventilation holes, and
Status Dust or foreign
Visual checks No dust or foreign material remove dust or foreign
material
material with a dry cloth.
Be careful not to let foreign
material into the ventilation
holes.
Loose terminal Screws should not be
Re-tighten screws Tighten
screws loose.
Connection Distance between
Visual checks Proper clearance Check screw
status terminals
Screws should not be Retighten connector
Loose connectors Visual checks
loose. mounting screws
Measure voltage between Refer to general
Line voltage check Change supply power
input terminals specifications

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 Chapter3 Operation Order and Installation

3.7 Troubleshooting

The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation.

3.7.1 Basic Procedure of Troubleshooting

System reliability not only depends on reliable equipment but also on short downtimes in the event of fault.
The short discovery and corrective action are needed for speedy operation of system. The following shows the basic
instructions for troubleshooting.

(1) Visual check

Check the following points.
•Machine operating condition (in stop and operation status)
•Power On/Off
•Status of I/O devices
•Condition of wiring (I/O wires, extension and communications cables)
•Display states of various indicators (such as POWER LED, RUN LED, ERR LED and I/O LED). After checking them,
connect peripheral devices and check the operation status of the motion controller and the program contents.

(2) Error Check

Observe any change in the error conditions during the following.
•Switch to the STOP position, and then turn the power on and off.

(3) Range limit

Estimate what is the trouble because using the above method.
•Inside or outside of the motion controller? I/O module or another module?
•Is it input/output? Is it others?
•Motion program?

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3.7.2 Troubleshooting
This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions.

Trouble contents

When Power (PWR) LED is Measure when Power LED is off

Off

Err. LED flicker codes Measure when ERR LED is blinking

When RUN, STOP LED is Measure when RUN, STOP LED is OFF
OFF

In case the input/output

module operates abnormally Measure in case the I/O module does not operate normally

When PROGRAM WRITE Measure when PROGRAM WRITE does not work.
does not work

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 Chapter3 Operation Order and Installation

(1) Measure when PWR(Power) LED is off

Flowchart used when the POWER LED is turned Off.

Is PWR LED Off?

No Power supply.
Is the power supplying?

Yes No Yes
Is PWR LED On?

Is the incoming voltage No Keep the supply power within

within specified range? the specified range.

Yes No Yes
Is PWR LED On?

Write down the Troubleshooting End

Questionnaires and contact the
nearest service center.

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 Chapter3 Operation Order and Installation

(2) Measure when ERR(error) LED is blinking

Here describes the measure procedure when ERR LED is flickering during power supply, or when operation starts, or
during operation.

Is ERR LED flickering?

Connect XG5000 and check the

error code contents.

No

See Appendix 1 Flag list and

Is it a fatal error?
remove the cause of the
error.
Yes

No
Is ERR LED still
flickering?

Complet Yes

Write down the Troubleshooting

Questionnaires and contact the nearest
service center.

Notes

In case of minor error, and the does not stop but you should check the error contents promptly and take an
action. If not, it may cause the critical error.

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 Chapter3 Operation Order and Installation

(3) Use PLC RUN LED Off flowchart on page 10-8

This section describes the action sequence when the RUN LED is turned off when the power is turned on, when the
operation starts, or during operation.

Is RUN LED Off?

Input power OFF → ON

No
Is RUN LED off?

Yes

Write down the Troubleshooting

Questionnaires and contact the nearest Complet
service center.

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 Chapter3 Operation Order and Installation

(4) Measure in case the I/O module does not operate normally
Here describes the measure procedure when I/O Module does operation normally during operation, as shown on the
program example below.

I/O modules are not correctly reading and/or controlling field

devices

No
Is Output module output to SOL1 LED
on?

Ye
s

Measure SOL1 terminal voltage Make the correct wiring. Change the connector of Monitor SOL1 state by
by the tester. terminal block. XG5000.

No No

No No
Ye
Is the contact condition of the Is it normal ?
Do the inputs work as expected? Is the output wiring correct ? s
terminal block connector good ?
Ye
Ye
s
Ye s
s
Cont
After removing the external i
wiring, check the conduction
state of module output

Ye
s No

Is it normal ?

Check the physical device

connected to SOL1 for proper Replace the Output module
operation

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 Chapter3 Operation Order and Installation

Conti

No
Are the Input module LEDs for SWITCH1
and SWITCH2 On?

Ye
s

Measure the terminal voltage of Measure the terminal voltage of

SWITCH 1, 2 by the tester. SWITCH 1, 2 by the tester.

Ye
Do the inputs work as expected? Do the inputs work as expected? Are the module screw
s terminals tightened?
No No
Ye No Ye
s s

Ye Ye
Is the contact condition
s Is the wiring correct? of the terminal block s
connector good ?

No No
After removing the external
wiring, check the input
state by forced input.

Make the correct Tighten the terminal Change the

Do the inputs work as expected? wiring screw completely connector of
terminal block.
No
Ye
s

Replace the Input Check the input device Recheck from beginning of Replace the Input
module (SWITCH 1, 2) state. this flowchart module

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 Chapter3 Operation Order and Installation

3.7.3 Troubleshooting Questionnaire

If the trouble occurs when using motion controller, fill in the following questionnaire and then contact customer’s service
center by phone or FAX.

 For errors relating to special or communication modules, use the questionnaire included in the User’s manual of the unit.

1. Customer’s Contact Number: Phone)

FAX)
2. Module type: ( )
3. Applied Module details
Controller model ( ) OS version No. ( ) Serial No. ( )
− XG5000 Version number used for program compiling :( )
4. General description of the device or system used as the control object:

5. The module type of the motion controller:

− Operation by the mode setting switch ( ) − Operation by the XG5000 or communications ( )
6. LED of the motion controller turned Off ? Yes ( ), No ( )
7. Error message content by XG5000:
8. Action method for the error code in the article 7:
9. Trouble shooting method for other error action:
10. Characteristics of the error
 Repetitive ( ): Periodic ( ), Related to a particular sequence ( ), Related to environment ( )
Environment related ( )
 Sometimes ( ): General error interval:
11. Detailed description for the error phenomena:

12. Configuration diagram of applied system:

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3.7.4 Cases
Input circuit troubles and corrective actions
(1) Input Circuit Error Type and Corrective Actions
The followings describe possible troubles with input circuits, as well as corrective actions.
Phenomena Causes Measures
Leakage current of external device Connect an appropriate register and capacity,
(Such as a drive by proximity switch) which will make the voltage lower across the
Input signal
terminals of the input module.
does not turn off
AC input AC input
C Leakage C
R
R
~
External ~

Leakage current of external device

(Drive by a limit switch with neon lamp)
CR values are determined by the leakage
Input signal not AC input
current value.
OFF(Neon lamp C Leakage − Recommended value C : 0.1 ~ 0.47㎌
may be still on) R current
R : 47 ~ 120 Ω (1/2W)
External device
~
or make up another independent display circuit.

Leakage current due to line capacity of wiring

Install the power on the external device as
Input signal cable.
below.
doesn’t turn off.
AC input AC input
Leakage

~ ~
External device External device

Leakage current of external device Connect an appropriate register, which will make the
Input signal (Drive by switch with LED indicator) voltage higher than the OFF voltage across the input
doesn’t turn off. module terminal and common terminal. DC input
DC input
Leakage DC input
R
R
External

 Loop current due to the use of two different

Use only one power supply.
power supplies.
Input signal Connect a sneak current prevention diode.
doesn’t turn off. DC input

L E1 DC input
E E
L
E

E1 > E2, looped

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 Chapter3 Operation Order and Installation

(2) Output Circuit Error Type and Corrective Actions

Here describes the trouble examples of output circuit and its measures.
Phenomena Causes Measures
Over voltage Load is half-wave rectified inside A resistor of tens of kΩ to hundreds of kΩ is
applied to the load if (in some cases, it is true of a solenoid) connected in parallel to the load
case of output If power polarity is ←, C is charged, if polarity is ↑,
contact OFF voltage charged to C + power voltage is applied to both R
sides of diode (D). Max. Voltage is about 2 2.
Max. Voltage is about 2√2. D
C
← R
~
Load
C D
~
R Load
↑

Note) If used as above, output element does not

make trouble but the function of diode (D) built-in the
load becomes low which causes the trouble.
The load does not Leakage through a surge suppressor connected in Connect C and R across the load, which are of
turn off. parallel to the load. registers of tens KΩ .
When the wiring distance from the output module to
Output
the load is long, there may be a leakage current due to
Load
C the line capacity.
Leakage ~ C
R R R
current
Load Load

Leakage through a surge suppressor Drive the relay using a contact and drive the
When the load is
connected in parallel to the load. C−R type timer using the since.
C−R timer, time
Use other timer than the C−R contact some
constant fluctuates.
Output timers.
Load Note) Have half-ware rectified internal circuits
C therefore, be cautious.
~
R Leakage Timer
T

Outpu X
~
t

Circulating current by using two different power Use only one power supply.
The load does not sources Connect a sneak current prevention diode.
turn off.(for DC)
Outpu Outp

Load Load
E1 E
E2 E

If the load is the relay, etc, connect a counter-

E1< E2, looped electromotive voltage absorbing code as shown by the
E1 is off (E2 is on), looped. dot line.
Output circuit troubles and corrective actions (continued).

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 Chapter3 Operation Order and Installation

Phenomena Causes Measures

Over current at off state Insert a small L/R magnetic contact and drive the load
[The large solenoid current fluidic load (L/R is large) using the same contact.
such as is directly driven with the transistor output.
Outpu
Outpu

The load off Off current

response time is Load Load

long. E1
.

The off response time can be delayed by one

or more second as some loads make the current
flow across the diode at the off time of the
transistor output.

Surge current of the white lamp on. To suppress the surge current make the dark
current of 1/3 to 1/5 rated current flow.
Output Outp

E1 R E

Output transistor Sink type transistor output

is destroyed.

A surge current of 10 times or more when turned on.

Outpu

Source\ type transistor output

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 Chapter4 Motion Control Operation

Chapter 4 Motion Control Operation

This chapter describes structure, parameter and device of motion controller.

4.1 Structure of Motion Controller

This picture describes process of parameter and operation data saved in the controller.

XG5000

【 XMC-E32A 】

XG5000 I/F
Internal buffer

Motion/NC
User program Basic parameter
status
Sequence control Motion/NC
commands System status
parameter

Motion control NC control CAM data Device

commands commands
EtherCAT Management
Parameter data

SD Card service *1

Motion Ethernet service | eMMC |

Controller
Digital input Parameter
- Basic, I/O, Built-in
Digital output - EtherCAT, Axis/Axis group, NC

Analog input Task program NC program

EtherCAT master Retain device CAM data

Analog output

*1 : Change through the XG5000

Servo data I/O data
read/write read/write

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 Chapter4 Motion Control Operation

4.2 Motion Control Configuration

Motion controller can control up to 32 axes of actual motor axis and 4 virtual axes through EtherCAT. Among 32 axes, you can
control the axes that are not connected to the slave by setting them as virtual axes and 4 axes are provided for the virtual axes only.
Motion control block diagram of motion controller is shown below.

XMC-E32A
Servo drive

EtherCAT
Motion Motion control Comm.
Program Communication
command and Feedback
execution process
analysis data process control
(Position/ M
Velocity/
Torque)

E
Encoder1, Encoder2
External input/output
input

E E

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 Chapter4 Motion Control Operation

4.3 Motion Control Tasks

The following describes tasks of the motion controller.

4.3.1 Task Types

There are 3 types of motion control tasks: main task, periodic task and initialization task.

The main task completes the motion within the period set by the user, and it performs I/O refresh, program proce
ss, motion control and processes EtherCAT synchronous communication. The set period of the main task is 0.5/1/2/
4ms and it can be set in the basic parameter of the motion controller. (For smooth motion control, the maximum
main task is limited to 4 ms.)
The period of the periodic task can be set in multiples of the main task’s period set by the user, and the periodic
task is processed in the remaining time after the main task is completed during the period of each task. Therefore, t
he periodic task can be performed over a number of main task periods.
The initialization task is only performed once at the beginning when the motion controller is entering the RUN mo
de, and it is normally used for setting the initial data of the system and the parameter.

Number of
Task types Operation
Programs
· It performs I/O refresh, processing of programs assigned to main task and motion
control.
· It performs the above tasks at a time for each of the established control period
(main task cycle).
Main task
· It has higher priority than periodic task.
· It uses programs that require synchronized control and high-speed operation
processing through allocation since it is possible to process program fast.
· Period possible to be set: 0.5ms, 1ms, 2ms, 4ms
· It performs processing of programs assigned to main task.
· It is performed for the remaining time after implementation of main task operation
within the control period, and can be performed over multiple cycles.
Up to 256
· Since it has lower priority than main task in the execution of motion control
Periodic task commands within main task program, the motion control commands executed in
the main task program are processed first.
· It uses programs of processing other monitoring data and control of device that
doesn’t require high-speed processing through allocation.
· Period possible to be set: 1ms ~ 100ms (Set to a multiple of the main task cycle)
· It performs processing of programs assigned to the initialization task after
implementing I/O refresh.
Initial Task · If the initial task completion (_INIT_DONE) flag is set by the initialization task
program, the task is completed, and the execution of the main task and periodic
task program starts.

Notes
If the main task cycle is set outside the setting range, an error 0x0260 occurs.
If the periodic task cycle is not set to the multiple of the main task, an error 0x0261 occurs.
If the error occurs, check the task cycle.

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 Chapter4 Motion Control Operation

4.3.2 Task Operation

(1) Overall task operation
The task is composed of the main task and periodic task. The main task performs I/O refresh and processes program as
well as motion control motion according to the processing of the program during the control period. The periodic task is
performed in the control period in the remaining time after the main task is completed and it can be completed after going
through many control periods.

Main task period Main task period

Perfrom I/O Motion I/O Motion

Program Program
main task refresh control refresh control

Perform
Program Stop Program
periodic task
Periodic task period

(2) Main task operation

The main task must be performed in the set task period, and if the performance of the main task exceeds the set main
task period, an error occurs and if motion controller is in RUN state, it is changed to STOP state. If the main task execution
is not completed during the ‘main task cycle error’ detection time, the operation is stopped immediately, and an error is
generated if the motion controller is in the RUN state. The motion controller enters the ERR state.
1) Performance time of main task ≤ Main task period

Main task period

Performance time of main task

Output Input Perform

Processing
data Data motion
refresh refresh program
control

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 Chapter4 Motion Control Operation

2) Performance time of main task > Main task period

History
Periodic
error
History

Periodic Periodic
warning warning

Main task period Main task period Main task period Main task period
RUN RUN RUN ERROR

I/O Processing Motion I/O I/O Motion

Processing program
refresh program control refresh refresh control

Performance time
of main task

Main task periodic : 1ms

Main task periodic error : 2ms

(3) Cycle task operation

The periodic task is performed in the remaining time after performing the main task in the set control period and it can be
performed over many control periods depending on the performance time of the task If the execution of periodic task
exceeds the set periodic task cycle, a warning occurs. If the periodic task execution is not completed during the ‘periodic
task cycle error’ detection time, the operation is stopped immediately, and an error is generated if the motion controller is in
the RUN state. The motion controller enters the ERR state.

1) Performance time of periodic task ≤ Periodic task period

Main task period Main task period

Perform I/O Motion I/O Motion

Program Program
main task refresh control refresh control

Perform
Waiting Program Waiting Program
periodic task
Performance time of periodic task
Periodic task period

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 Chapter4 Motion Control Operation

(4) Initial task operation

The initialization task is a task performed only once at the beginning when motion controller is entering the RU
N mode. It is mainly used to set the initial data of the system and the parameter. The initialization task is execute
d until the initialization task execution completion (_INIT_DONE) flag is set before the execution of the main task,
and it is terminated when the user sets the _INIT_DONE flag in the program. Only when the initialization task is t
erminated, the main task and periodic task programs are executed. The initialization task cycle inherits the main ta
sk cycle. The initialization task operates in the main task cycle and is included in the main task execution time.

Main task period Main task period

Perform I/O Motion I/O Motion

Program Program
main task refresh control refresh control

Perform
Waiting Program Waiting Program
periodic task
Performance time of periodic task
Periodic task period

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 Chapter4 Motion Control Operation

4.3.3 Motion command execution

(1) Execution of motion commands in the main task
Execution of motion instruction of the main task is shown in the figure below. According to the I/O refresh motion of the
main task, the input value of slave and the system parameters are updated. Motion control is performed in the main task
based on this information. The outcome of the performance is output in slave module at the I/O refresh time of the next
control period.

Control period Control period

Update input Processing Update output

status program status

Perform I/O Motion I/O Motion

Program Program
main task refresh control refresh control

Slave Slave

(2) Execution of motion commands in the periodic task

Execution of motion instruction in the periodic task is shown in the figure below. According to the I/O refresh motion of the
main task, the input value of slave and the system parameters are updated. With this information, motion control is
performed in the main task. The program of the periodic task is performed by this result, and motion control is performed
with this result while the main task is being performed in the control period after the performance of the periodic task. Also
the outcome of this motion control performance is output in slave at the I/O refresh time of the next control period

Periodic task period

Main task period Main task period Main task period Main task period

Update input
status

Perform I/O
Program
Motion I/O
Program
Motion I/O
Program
Motion I/O
Program
Motion
main task refresh control refresh control refresh control refresh control

Perform Progra Prog

periodic task m ram
Slave Slave

Processing
related
program

If the periodic task program is executed within several main tasks, the motion control result of each main task is reflected
in the periodic task program. Please keep this in mind when writing the periodic task program.

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 Chapter4 Motion Control Operation

4.4 EtherCAT Communication

The communication of EtherCAT(Ethernet for Control Automation Technology) is explained here.

4.4.1 What is EtherCAT

EtherCAT is a high-performance industrial network system which uses Real-Time Ethernet based on the Ethernet developed by
Beckhoff Company in Germany. EhterCAT is a communication between the master and the slave, and it provides a short
communication cycle time by transmitting Ethernet Frame at a high speed between each nodes. When data Frame transmitted
from the master to the slave passes through the slave, EtherCAT communication sends the received data to the relevant data
Frame at the same time as the slave receives the transmission data. In other words, EtherCAT passes one communication frame
to all slaves in turn without transmitting data to each slave node in the network, When a communication frame passes through
each slave, each slave reads and writes data to its own area in the frame. Communication Frame goes through the last slave and
returns, passes through all slaves and is delivered back to the master, and high-speed data transmission is performed.

XMC-E32A SLAVE1 SLAVE2 SLAVEn

Input Output Input Output Input Output

data data data data data data

OUT

IN OUT IN OUT IN OUT

IN

4.4.2 CoE(CANopen over EtherCAT)

Motion controller uses the slave and EtherCAT to communicate and uses CoE(CANopen over EtherCAT) as the protocol for
information exchange.
In CoE, parameter and data information of the slave are composed of Object Dictionary. Object Dictionary contains the
information used in the configuration of the device and communication, and it is a group of the object (parameter) which can be
accessed through the network.
In the communication between master-slave using CoE, there are a communication which uses Process Data Object (PDO)
and synchronously transmits information, and a Service Data Object (SDO) communication which occurs asynchronously.
Motion controller regularly performs process data communication to receive and send input/output signal and to control the
position of EtherCAT slave (servo drive). It also performs service data communication in terms of an error state in the slave and the
parameter reading/writing whenever there is a request.

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 Chapter4 Motion Control Operation

Type Communication time Content

Process Data Communication Synchronous (main task servo drive position control data, input/output of data,
(PDO Communication) period) etc.
Service Data Communication (SDO Asynchronous (in servo parameter reading/writing, servo error
Communication) request) information reading, etc.

4.4.3 EtherCAT State Machine

The state and motion between states of EtherCAT communication are shown in the figure below.

Init

(PI) (IP)

Pre-Operational (SI)

(OI) (PS) (SP)

(OP) Safe-Operational

(SO) (OS)

Operational

The communication between the master-slave of EtherCAT communication begins from the Initial state and progresses to the
Operational state. In the motion controller, the slave servo drive can be controlled with a normal process data communication
when it is in operational state.
If a communication error occurs while the motion controller performs the slave and EhterCAT communication at operational
state, the communication state is changed to the Initial state and the communication between the slaves is discontinued. In this
case, the factor of communication error should be removed and reconnect with the slave to restart the communication.

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4.4.4 EtherCAT Process Data Objective(PDO)

The synchronous data communication in EtherCAT communication of motion controller occurs through process data object
(PDO). TxPDO which is transmitted from the slave to motion controller, and RxPDO which is transmitted from motion controller to
the slave. In RxPDO and TxPDO, data which are going to be synchronous communication can be put together to be set as the
example of the figure below shows among the data defined in the Object Dictionary.
Object Dictionary
RxPDO
Index Sub-Index Description Type Index Sub-Index
0x6040 - Control Word UINT 0x6040 0x00
0x6060 0x00
0x6060 - Mode of Operation BYTE 0x607A 0x00

0x607A - Target Position DINT

Object Dictionary
TxPDO
Index Sub-Index Description Type Index Sub-Index
0x6041 - Status Word UINT 0x6040 0x00
0x6064 0x00
0x6061 - Operation Display BYTE 0x6061 0x00

0x6064 - Actual Position DINT

Slave manufacturers sometimes set many RxPDO and TxPDO in advance and provide Slave Information File including this
information in xml format. When initially setting and test operating this slave information file, it should be transmitted to the motion
controller using the XG5000. This slave information file should be analyzed and communicated to the PDO data which is
optimized for controlling.

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4.4.5 MultiFrame setting function

In EtherCAT communication, “frame” refers to a set of data transmitted once per cycle when exchanging data between
master and slave during communication. In the figure below, the buffer moving along the yellow line, that is, a set of
contiguous blocks is a frame.
Master Slave1 Slave2 Slave3 Slave4

FCS WC EtherCAT header

Ethernet header
In general, the exchange data size between the master and the slave is often small. In this case, the master performs
Ethernet communication with the slave in a single frame. At this time, considering the essential elements, the single frame
has a specification consisting of up to 1518 bytes (14+2+1498+4). The figure below shows the configuration of a single
frame.
14byte 2 byte 1498byte 4byte

0x88a4 8bit 8bit 32bit 11bit 2 1 1 1 16bit 16bit

R Type FCS
Dest. Src. Etype. Length Cmd Idx Add. Len R C R M IRQ Data WKC ……….
0 1

On the other hand, if the number of slaves to communicate increases or the number of process data increases, the data
size to be exchanged exceeds the standard size of 1518 bytes of single frame. At this time, data exchange is performed by
transmitting multiple frames by composing an additional frame. At this time, multiple frames are called multi-frames.
When multi-frame is set by user setting multiple slaves and a sufficient number of PDOs, the program utility automatically
completes multi-frame setting. The figure below shows the multi-frame state that has been set up.

Multi-frame is a convenient function that can be processed at once when there is a lot of data to be exchanged with the
slave.

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 Chapter4 Motion Control Operation

4.4.6 Specification of Motion Controller EtherCAT Communication

Item Specifications

Communication protocol EtherCAT

Support specification CoE(CANopen over EtherCAT)

Physical layer 100BASE-TX

Communication speed 100Mbps

Topology Daisy Chain

Communication cable Cat. 5 STP(Shielded Twisted-pair) cable

Number of maximum
64(Able to mapping Max. 32 drive to motion axis)
slave
Communication period 0.5ms/1ms/2ms/4ms (According to the main task cycle)
Synchronous Jitter
0.5ms/1ms/2ms/4ms
between slave
Synchronous
PDO(Process Data Object) Mapping through CoE
communication
Non-synchronous
SDO(Service Data Object) communication through CoE
communication
Communication setting Set the communication configuration using XG5000

4.4.7 EtherCAT Network Connection

(1) Supported Topology
XMC generally constitutes a network using a daisy chain connection. It can constitute branches using junction slaves.
XMC also can use cable duplication by constituting a network with rings using junction slaves.
1) Not-using Branches

EtherCAT Master

EtherCAT Slave EtherCAT Slave EtherCAT Slave

EtherCAT Out In Out In Out In Out

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 Chapter4 Motion Control Operation

2) Using Branches

EtherCAT Master

EtherCAT Slave EtherCAT Slave EtherCAT Slave

Junction Slave

Out In Out In Out In Out

EtherCAT Out In
Out
EtherCAT Slave EtherCAT Slave
Out

In Out In Out

EtherCAT Slave

In Out

3) Cable Duplication Configuration

EtherCAT Slave EtherCAT Slave EtherCAT Slave
EtherCAT Master
Junction Slave

Out In Out In Out In Out

In
Out

Out
EtherCAT Out

(2) Precautions
1) When connecting to EtherCAT slaves, be careful of not connecting to In/Out in reverse.
2) Equipment with several junction slaves is not allowed.
3) When using cable duplication with junction slaves, do not use the remaining ports of the junction slave.
4) Junction slaves must use products that provide the EtherCAT reference clock.
5) When connecting to EtherCAT, configuration of the slave setting should be identical with the real configuration.

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 Chapter4 Motion Control Operation

4.4.8 EtherCAT Network Setting

(1) Set Network in the Project Tree
1) To add slaves on the EtherCAT network, select “Add Items - Add Slaves” by clicking on the right mouse button over
slaves in the project tree.

2) When the slave information window displays, check a slave name, select the confirmation button and add slaves.
3) If adding other slaves, select slaves in the slave selection window by clicking the “...” button next to a slaves name.

4) Check if slaves are correctly added in the project window.

(2) Set Network in the EtherCAT Network Screen
1) Select View-EtherCAT Network from the menu.

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 Chapter4 Motion Control Operation

2) Double-click in the EtherCAT Network Screen.

3) Confirm a slave name in the slave information window and click the confirm button.

4) When adding other slaves, click the “...” button in the slave information window.
5) Confirm if a slave is correctly added in the network view screen.

(3) Set Cable Duplication in the EtherCAT Network Screen

A single motion controller supports cable duplication that uses junction slaves. To use the cable duplication function, the
cable duplication setting is needed for EtherCAT network parameters when supporting EtherCAT Network cable duplication.
1) Click and add the junction slave by clicking in the EtherCAT Network Screen.
2) Click that represents the port of a junction slave and add slaves to the port 2 (X2) of a junction slave.
3) When adding slaves to the port 2, the display of the port changes into , which signifies the duplication setting is
possible.
4) Select the port 3 (X3) or the port 5 (X5) of the junction slave and click the right mouse button.
5) Select the Cable Duplication Setting Menu.
6) Confirm if duplication is set to the port of a junction slave. A duplication port is marked as .

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 Chapter4 Motion Control Operation

4.4.9 CiA 402 Operation Mode Supported

The CiA402 profile is a profile of drives and motion controllers in the Can open specification. Single motion controller
supports the CiA402 profile that supports operation modes such as CSP/CSV/CST/Homing/Velocity. To use operation
modes, slaves should support the corresponding operation mode and the corresponding essential PDO should be
included in the operation mode that you want to use in the slave PDO setting.

1) Essential PDO by Operation Mode

Velocity mode Homing mode
Index Name Index Name
6040h Control word 6040h Control word
6041h Status word 6041h Status word
6042h vl target velocity 6098h Homing method
6044h vl velocity actual value

CSV mode CSP mode

Index Name Index Name
6040h Control word 6040h Control word
6041h Status word 6041h Status word
606Ch Velocity actual value 607Ah Target position
60FFh Target velocity 6064h Position actual value

CST mode
Index Name
6040h Control word
6041h Status word
6071h Target torque
6077h Torque actual value

2) Confirm the Supported Mode of Slaves

A Single Motion Controller provides the function that users can confirm whether to support the CiA402 profile of the connected
slave. For more information see Appendix 8 EtherCAT Diagnosis Function.

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 Chapter4 Motion Control Operation

4.4.10 EtherCAT Master Setting

The EtherCAT Master Setting consists of General Information/PDO Variable Information/Diagnosis Information. In
the General Information Tab you can set Check Revision of Slaves when connecting to EtherCAT/Check Serial
Numbers/the Number of the fixed-cycle communication timeout. In the PDO Variable Information Tab you can see all
objects mapped to the PDO of the current slave at a glance and monitor a real value while on-line. In the Diagnosis
Information Tab you can see status diagnosis flags of slaves at a glance. For more information about the EtherCAT
Master Setting see Chapter 5 Memory, Parameter and I/O Signal - (4) EtherCAT Parameter. For more information
about EtherCAT Diagnosis Information see Appendix 8 EtherCAT Diagnosis Function.

In the EtherCAT Slave Setting you can perform whether to Use the DC of Slaves/PDO Setting/Market Demand Setting.
For more information see Chapter 5 Memory, Parameter and I/O Signal - (4) EtherCAT Parameter.

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4.4.11 EtherCAT Slave Setting

The EtherCAT Slave Setting consists of General Information/PDO Setting/SDO Parameter/Start Command/On-line
Service. In the General Information Tab you can set whether to Use the DC of Slaves/DC Shift Time/Whether to Use
the Replace Function during Connection. The PDO Setting Tab provides the function that modifies the PDO mapping
information of slaves. The SDO Parameter Tab shows objects registered with the object dictionary of slaves and
provides an EEPROM storage function and a modification function during operation. In the Start Command Tab, you
can set the initial operation when connecting by specifying the SDO write operation according to the transition of slave
status. For more information see Chapter 5 Memory, Parameter and I/O Signal - (4) EtherCAT Parameter.

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 Chapter4 Motion Control Operation

4.4.12 EtherCAT Error Information Flags

A single motion controller sets error flags when an error occurs during connecting to the EtherCAT. It also provides detailed
error information by giving error information flags.
Memory
Variable Type Description
Allocation
_EC_COMM_ERR BOOL %FX65602 EtherCAT Communication timeout
error
_EC_ERR_INFO1 STRING %FB8272 EtherCAT error information 1
_EC_ERR_INFO2 STRING %FB8304 EtherCAT error information 2

(1) If the network setting is different from the number of slaves while connecting to EtherCAT
Variable Error message
_EC_ERR_INFO1 NetConfig SlaveQtyxx Actualxx

(2) If the network setting is different from real slaves while connecting to EtherCAT
Variable Error messages
_EC_ERR_INFO1 Check Slave xx VendorID

(3) If the network setting is different from real slaves while connecting to EtherCAT
Variable Error messages
_EC_ERR_INFO1 Check Slave xx Product Code

(4) If the network cables are connected differently from the setting while connecting to EtherCAT
Variable Error messages
_EC_ERR_INFO1 Slave xx DL Statusxx

(5) If the PDO working counter error occurs while connecting to EtherCAT
Variable Error messages
_EC_ERR_INFO1 PDO Communication Error

(6) If a slave does not respond while connecting to EtherCAT

Variable Error messages
_EC_ERR_INFO1 ECAT Communication Error

(7) If the slave error occurs while connecting to EtherCAT

Variable Error messages
_EC_ERR_INFO1 PDO Communication ALStatus Error
_EC_ERR_INFO2 Slave xx AL Status Codexx

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 Chapter4 Motion Control Operation

4.4.13 EtherCAT Master Status Diagnosis Flag

A single motion controller provides flags to diagnose the EtherCAT status.
Memory Cause
Variable Type Allocation Description

_EC_TRANSMITTED_OK UDINT %FD2084 Number of Transmitted The EtherCAT frame is damaged due
Frames to noise
_EC_RECEIVED_OK UDINT %FD2085 Number of Received
Frames
_EC_CRCERR_CNT UDINT %FD2086 CRC error frame reception The EtherCAT frame is damaged
_EC_CARRIER_SENSE_ERR UDINT %FD2088 EtherCAT Carrier sense Another device rather that the
error EtherCAT device is connected
_EC_COLLISION_CNT UDINT %FD2087 The mumber of Collision The repeater hub is connected
Frames
_EC_LINKOFF_CNT UDINT %FD2089 Link-off count The EtherCAT cable is not connected
_EC_OVERSIZE_FRAME UDINT %FD2090 Oversize frame reception The EtherCAT frame is damaged
Another device rather that the
EtherCAT device is connected
_EC_UNDERSIZE_FRAME UDINT %FD2091 Undersize frame reception The EtherCAT frame is damaged
Another device rather that the
EtherCAT device is connected
_EC_JABBER_FRAME UDINT %FD2092 Jabber frame reception The EtherCAT frame is damaged
Another device rather that the
EtherCAT device is connected
_EC_PDO_ERR_CNT_TOTAL UDINT %FD2104 PDO Error Count An error has occurred during PDO
(Accumulated) communication
_EC_PDO_ERR_CNT_MAX UDINT %FD2106 PDO Error Count (Max.) An error has occurred during PDO
communication
_EC_LOST_FRAME UDINT %FD2105 Number of Damaged The EtherCAT frame is damaged due
Frames to noise

4.4.14 EtherCAT Slave Status Diagnosis Flag

A single motion controller provides flags to diagnose the EtherCAT status of slaves. When errors occurred during EtherCAT
communication, the diagnosis information of slaves can detect the slave with problems. For more information see Appendix 8
EtherCAT Diagnosis Function.
Variable Description
_SLVxx_ALStatus Shows the AL status of slave applications.
_SLVxx_ALStatusCode Shows the error code of slave applications.
_SLVxx_DLStatus Shows the link status information of slaves.
_SLVxx_LinkLostCount Shows the link stop event counter for each port of slaves.
_SLVxx_InValidFrameCounterA/B/C/D The count increases if there are errors in frame formats such as Preamble, SFD
and CRC. The whole bit sequence corresponds to the damaged frame.
Errors can occur in frames.
_SLVxx_RxErrorCounterA/B/C/D The count increases if individual symbols are not valid.
Errors can occur both in and out of frames.
_SLVxx_ForwardedRXErrCounter Abnormal frames detected through the previous slaves show the received count.

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4.4.15 Using the Third Party EtherCAT Slave

To use the third party EtherCAT slave other than the slave basically provided by a single motion controller, the EtherCAT
Slave Information (ESI) is needed first. A manufacturer of EtherCAT slaves provides the ESI file that is defined as the
EtherCAT standard. Users can directly register the ESI file given by a manufacturer with XG5000. To register the ESI file
there are two ways: one way that XG5000 automatically identify the ESI file and the other way that user directly registers it.
(1) Automatic Identification of the ESI File
1) End XG5000 if executing it.
2) Put the ESI file in the EtherCATXML folder of the XG5000 installation folder.
3) Execute XG5000.
(2) Direct Registration of the ESI File
1) Click the right mouse button in the ESI library window of XG5000.
2) Select ‘Add the ESI File’ from the shortcut menu.
3) Select the ESI file in the dialog box, ‘Open the ESI File’ and select the button, ‘Open’.

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4.5 Motion Control Program

4.5.1 Program Execution

(1) program Program Configuration
A motion control program consists of all functional elements necessary to execute a specific control. The program runs on
the built-in RAM, and the program is backed up in eMMC.
Programs according to these functional elements are classified as follows.
Program Contents of process
Main task program Process the command which is executed in every 'main task period'.
Periodic task program Process the command which is executed in every 'periodic task period'.
Initializing task program Execute the command which is executed once in case of motion controller
RUN.

Caution
Since the motion control program is stored in eMMC when the power is off, the number of program writes is limited to 100,000
times. Please be careful when using the program.

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4.5.2 Operation mode

(1) RUN mode
This is a mode which normally performs the motion program calculation.
1) Processing two axes a mode is changed
Initialization is performed in the data area at the beginning, and possibility of performance is decided by examining the
validity of the motion program.
2) The contents of operation processing
Motion program, motion command calculation, input/output data processing, and EtherCAT communication are
performed.

(2) STOP mode

This is a mode in stop state which does not perform the motion program calculation.
1) Processing when changing the mode
Every output data is in Off state.
2) The contents of operation processing
This performs EtherCAT communication.
3) You can execute the command executed in the command window without motion program operation.
The command executed in the command window is performed, and EtherCAT communication is executed.

(4) Change in operation modes

Operation mode of motion controller can be changed as follows.

Operation mode Note

during RUN Motion controller performs program.
STOP  RUN Motion controller changes from STOP mode to RUN mode.
RUN  STOP Motion controller changes from RUN mode to STOP mode.
TEST command can be performed only in case motion controller is in STOP mode in
During STOP
XG5000.

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 Chapter5 Memory and Parameter

Chapter 5 Memory and parameter, I/O Signal

5.1 Memory

5.1.1 Program and data memory

(1) Program Memory

The configuration of the memory related to the program embedded in the motion controller is as follows.
Item Size(KB) Content
Parameter 9,251KB User parameter area
Motion program 10,240KB User program related to motion
NC Program 10,240KB User program related to NC
Program operation table 4,478KB Table area related to the program
System operation 47,104KB System OS area

(2) Data Type Memory

The details and size of the data memory embedded in the motion controller are as follows.
Item Size(KB) Content
User Automatic 4,096KB Automatic variable area
Device variable (A)
Direct variable 2,048KB Internal device area
(M)
Input variable(I) 16KB Built-in digital input, TxPDO data of EtherCAT slaves
Output Built-in digital output, RxPDO data of the EtherCAT slave
16KB
variable(Q)
System Variables related to motion control status and module operation
128KB
variable(F) status
Special Built-in analog operations and state variables
1KB
variable(U)
Special SD memory, data log and encoder flag area
18KB
variable(K)
Etc 456KB UDF/B Internal purposes and NC Local variables
History 88KB User history (error / mode / system / power / motion error)
System area 43,008KB Internal operating area of the system and other functions

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5.1.2 Device
(1) Device type
Types of device supported in motion control module are shown in the Table below.
Type Capacity Usage
Assigned when adding a symbolic variable to the automatic
Automatic variable (A) 4,096KB variable area
(able to set 2,408KB of retain)
Internal device area (able to set 1,024KB of retain by
Direct variable (M) 2,048KB
selecting in the area of basic parameter)
Input variable(I) 16KB Built-in digital input, TxPDO data of the EtherCAT slave
Output variable(Q) 16KB Built-in digital output, RxPDO data of the EtherCAT slave
Variables related to motion control status and module
System variable(F) 128KB
operation status
Special variable(U) 1KB Built-in analog operations and state variables
Special variable(K) 18KB SD memory, data log and encoder flag area

(a) Automatic variable

 This is a variable to be automatically assigned the position of variables by compiler; user does not need to specify the
position of internal variable. The variables, which user sets but does not assign specific position, are assigned to
automatic variable.
 The automatic variables that do not have Retain Settings are initialized to 0 when power is applied again or at Stop-to-
Run.

(b) Direct variable

 (a) This is a variable which user forces the position of memory to be assigned by using the name and number of a
device directly.
 (b) The range of address assignment where direct variable is available is as follows.
Size of Variable Designated range of Variable address
X(bit) %MX0 ~ %MX16777215
B(byte) %MB0 ~ %MB2097151
W(word) %MW0 ~ %MW1048575
D(double word) %MD0 ~ %MD524287
L(long word) %ML0 ~ %ML262143

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(c) Input variable (I)

1) This is a variable assigned to built-in digital input and TxPDO of EtherCAT slaves.
2) Built-in digital input is 8 points.
3) Input variable is expressed as follows.
%I[size prefix]n
No. Description
Size prefix X(1 bit), B(1 byte), W(1 word), D(1 double word), L(1 long word)
n n data based on [size prefix] among data

%I[size prefix]n1.n2.n3
No. Description
Size prefix X(1 bit), B(1 byte), W(1 word), D(1 double word), L(1 long word)
n1 0~127 block assigned
n2 0~15 block assigned
n3 64 bit assignment. n3 data based on [size prefix]

Example) %IW64 = %IB128 = %IW1.0.0 = %IB1.0.0.

Also %IW1 = %IB2 = %IW0.0.1 = %IB0.0.2.

4) Device depending on the input variable expression is assigned as follows.

Device Description
%IX0 Built-in digital input 0
%IX1 Built-in digital input 1
%IX2 Built-in digital input 2
%IX3 Built-in digital input 3
%IX4 Built-in digital input 4
%IX5 Built-in digital input 5
%IX6 Built-in digital input 6
%IX7 Built-in digital input 7
%IW64 ~ TxPDO mapping data of EtherCAT slaves

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(d) Output variable (Q)

1) This is a variable assigned to built-in digital output and RxPDO of EtherCAT slaves.
2) Built-in digital output is 16 points.
3) Input variable is expressed as follows.
%Q [size prefix]n
No. Description
Size prefix X(1 bit), B(1 byte), W(1 word), D(1 double word), L(1 long word)
N n data based on [size prefix] among data

%Q [size prefix] n1.n2.n3

No. Description
Size prefix X(1 bit), B(1 byte), W(1 word), D(1 double word), L(1 long word)
n1 0~127 block assigned
n2 0~15 block assigned
n3 64 bit assignment. n3 data based on [size prefix]

Example) %QW64 = %QB128 = %QW1.0.0 = %QB1.0.0.

Also %QW1 = %QB2 = %QW0.0.1 = %QB0.0.2.

4) Device depending on the output variable expression is assigned as follows.

Device Description
%QX0 Built-in digital output 0
%QX1 Built-in digital output 1
%QX2 Built-in digital output 2
%QX3 Built-in digital output 3
%QX4 Built-in digital output 4
%QX5 Built-in digital output 5
%QX6 Built-in digital output 6
%QX7 Built-in digital output 7
%QX8 Built-in digital output 8
%QX9 Built-in digital output 9
%QX10 Built-in digital output 10
%QX11 Built-in digital output 11
%QX12 Built-in digital output 12
%QX13 Built-in digital output 13
%QX14 Built-in digital output 14
%QX15 Built-in digital output 15
%QW64 ~ RxPDO mapping data of EtherCAT slaves

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(e) Special variable

1) This is a variable assigned to built-in analog input and output.
2) Built-in analog input is 2 channels, and built-in analog output is 2 channels.
3) Built-in analog variable is expressed as follows.
%I [size prefix]n1.n2.n3
No. Description
Size prefix X(1 bit), B(1 byte), W(1 word), D(1 double word), L(1 long word)
n1 0: Motion Controller
n2 1: Built-in Analog
n3 n3 data based on [size prefix] among n2 data
4) Device depending on the analog variable expression is assigned as follows.
Built-in analog input
Variable Type Device Description
_01_AD0_ACT BOOL %UX0.1.16 CH0 RUN
_01_AD0_AVGTYPE Byte %UB0.1.34 Channel 0 Average processing
_01_AD0_AVGVAL WORD %UW0.1.18 Channel 0 Average value
_01_AD0_DATA WORD %UW0.1.5 CH0 conversion value
_01_AD0_DATATYPE Byte %UB0.1.26 Channel 0 data type setting
_01_AD0_ERR BOOL %UX0.1.32 Channel 0 error
_01_AD0_FILTCONST WORD %UW0.1.15 Channel 0 Filter constant
_01_AD0_HOLDVAL BOOL %UX0.1.320 Channel 0 valid conversion value hold setting.
_01_AD0_HOOR BOOL %UX0.1.48 Channel 0 upper limit alarm
_01_AD0_IDD BOOL %UX0.1.72 Channel 0 input disconnection detection
_01_AD0_LOOR BOOL %UX0.1.56 Channel 0 lower limit alarm
_01_AD0_RANGE Byte %UB0.1.22 Channel 0 range setting.
_01_AD0_RUN BOOL %UX0.1.160 Channel 0 run setting
_01_AD1_ACT BOOL %UX0.1.17 Channel 1 Active
_01_AD1_AVGTYPE Byte %UB0.1.35 Channel 1 Average processing
_01_AD1_AVGVAL WORD %UW0.1.19 Channel 1 Average value
_01_AD1_DATA WORD %UW0.1.6 Channel 1 Output data
_01_AD1_DATATYPE Byte %UB0.1.27 Channel 1 data type setting
_01_AD1_ERR BOOL %UX0.1.33 Channel 1 error
_01_AD1_FILTCONST WORD %UW0.1.16 Channel 1 Filter constant
_01_AD1_HOLDVAL BOOL %UX0.1.321 Channel 1 valid conversion value hold setting.
_01_AD1_HOOR BOOL %UX0.1.49 Channel 1 upper limit alarm
_01_AD1_IDD BOOL %UX0.1.73 Channel 1 input disconnection detection
_01_AD1_LOOR BOOL %UX0.1.57 Channel 1 lower limit alarm
_01_AD1_RANGE Byte %UB0.1.23 Channel 1 Range setting
_01_AD1_RUN BOOL %UX0.1.161 Channel 1 Operation setting
_01_AD_ACT_ARY ARRAY[0..1] OF BOOL %UX0.1.16 Active stats per channel (Array)
_01_AD_AVGTYPE_ARY ARRAY[0..1] OF BYTE %UB0.1.32 Average process by channel
_01_AD_AVGVAL_ARY ARRAY[0..1] OF WORD %UW0.1.18 Average value by channel

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Variable Type Device Description

_01_AD_DATATYPE_ARY ARRAY[0..1] OF BYTE %UB0.1.26 Data type setting by channel
_01_AD_DATA_ARY ARRAY[0..1] OF WORD %UW0.1.5 Conversion values by channel
_01_AD_ERR_ARY ARRAY[0..1] OF BOOL %UX0.1.32 Error by channel
_01_AD_FILTCONST_ARY ARRAY[0..1] OF WORD %UW0.1.15 Filter constant by channel
_01_AD_HOLDVAL_ARY ARRAY[0..1] OF BOOL %UX0.1.320 Valid conversion value hold setting by
channel
_01_AD_HOOR_ARY ARRAY[0..1] OF BOOL %UX0.1.48 Alarm (Upper Limit) by channel
_01_AD_IDD_ARY ARRAY[0..1] OF BOOL %UX0.1.72 Input disconnection detection by
channel
_01_AD_LOOR_ARY ARRAY[0..1] OF BOOL %UX0.1.56 Alarm (Lower Limit) by channel
_01_AD_RANGE_ARY ARRAY[0..1] OF BYTE %UB0.1.22 Range setting by channel
_01_AD_RUN_ARY ARRAY[0..1] OF BOOL %UX0.1.160 Operation setting by channel

Built-in analog output

Variable Type Device Description
_01_DA0_ACT BOOL %UX0.1.24 Channel 0(Voltage) Active
_01_DA0_DATA WORD %UW0.1.8 Channel 0(Voltage) Input data
_01_DA0_DATATYPE Byte %UB0.1.28 Channel 0 data type setting
_01_DA0_ERR BOOL %UX0.1.40 Channel 0(Voltage) Error
_01_DA0_INTP BOOL %UX0.1.64 Channel 0(Voltage) Interpolation
enabled
_01_DA0_INTPMTHD Byte %UB0.1.46 Channel 0(Voltage) Interpolation
method
_01_DA0_INTPTIME Byte %UB0.1.48 Channel 0(Voltage) Interpolation time
setting
_01_DA0_INTPVAL WORD %UW0.1.25 Channel 0(Voltage) Interpolation value
_01_DA0_OUTEN BOOL %UX0.1.112 Channel 0(Voltage) Output enable
_01_DA0_OUTSTAT WORD %UW0.1.21 Channel 0 output Status setting
_01_DA0_RANGE Byte %UB0.1.24 Channel 0 Range setting
_01_DA0_RUN BOOL %UX0.1.168 Channel 0 Operation setting
_01_DA1_ACT BOOL %UX0.1.25 Channel 1(Voltage) Active
_01_DA1_DATA WORD %UW0.1.9 Channel 1(Voltage) Input data
_01_DA1_DATATYPE Byte %UB0.1.29 Channel 1 data type setting
_01_DA1_ERR BOOL %UX0.1.41 Channel 1(Voltage) Error
_01_DA1_INTP BOOL %UX0.1.65 Channel 1(Voltage) Interpolation
enabled
_01_DA1_INTPMTHD Byte %UB0.1.47 Channel 1(Voltage) Interpolation
method
_01_DA1_INTPTIME Byte %UB0.1.49 Channel 1(Voltage) Interpolation time
setting

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_01_DA1_INTPVAL WORD %UW0.1.26 Channel 1(Voltage) Interpolation value

_01_DA1_OUTEN BOOL %UX0.1.113 Channel 1(Voltage) Output enable
_01_DA1_OUTSTAT WORD %UW0.1.22 Channel 1 output Status setting
_01_DA1_RANGE Byte %UB0.1.25 Channel 1 range setting.
_01_DA1_RUN BOOL %UX0.1.169 Channel 1 run setting
_01_DA_ACT_ARY ARRAY[0..1] OF BOOL %UX0.1.24 Active stats by channel (Array)
_01_DA_DATATYPE_ARY ARRAY[0..1] OF BYTE %UB0.1.28 Data type setting by channel

Variable Type Device Description

_01_DA_DATA_ARY ARRAY[0..1] OF WORD %UW0.1.8 Input values by voltage channel
_01_DA_ERR_ARY ARRAY[0..1] OF BOOL %UX0.1.40 Error by channel
_01_DA_INTPMTHD_ARY ARRAY[0..1] OF BYTE %UB0.1.46 Interpolation method setting by
channel
_01_DA_INTPTIME_ARY ARRAY[0..1] OF BYTE %UB0.1.48 Interpolation time setting by channel
_01_DA_INTPVAL_ARY ARRAY[0..1] OF WORD %UW0.1.25 Interpolation value by channel
_01_DA_INTP_ARY ARRAY[0..1] OF BOOL %UX0.1.64 Interpolation enabled by channel
_01_DA_OUTEN_ARY ARRAY[0..1] OF BOOL %UX0.1.112 Output enable by channel
_01_DA_OUTSTAT_ARY ARRAY[0..1] OF WORD %UW0.1.21 Output Status setting by channel
_01_DA_RANGE_ARY ARRAY[0..1] OF BYTE %UB0.1.24 Range setting by channel
_01_DA_RUN_ARY ARRAY[0..1] OF BOOL %UX0.1.168 Operation setting by channel

Built-in analog common

Variable Type Device Description
_01_ERR BOOL %UX0.1.0 Module error
_01_RDY BOOL %UX0.1.15 Module ready
_01_SETTINGERR WORD %UW0.1.27 Setting error information

(f) Special variable (K)

1) These variables are assigned to the SD memory, data log and embedded encoder flag area.
2) The built-in encoder input is 2 channels.
3) For the memory allocated to the Special Variable, please refer to the Appendix 1 Flag List 7) SD memory Flag ~ 9) Encoder
Flag.

(g) System variable(F)

1) These variables are assigned to the status variable of motion control status and system statues.
2) For details on the kinds of flags, please refer to the Appendix 1 Flag List 1) System Flag.

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(2) Retain setting

Default (automatic) variable retain is used when wanting to keep and use the data that occurs while operating or the data
required for an operation even in the case of restarting after the motion controller has stopped.
Certain part of the device in M area can be used as retain area by setting the basic parameter. The following table summarizes
the features of retain settable device.

Device Retain setting Characteristics

Default O Enable retain setting when adding variable to automatical variable
area
M O Enable retain setting in parameter by internal contact point area
I X Built-in digital input, TxPDO data of EtherCAT slaves
Q X Built-in digital output, RxPDO data of the EtherCAT slave

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5.1.3 Parameter

(1) Basic parameter

Explain Basic parameter of the motion control module. For more details on operation, refer to Chapter 10 CPU Functions.

(a) Basic operation setting

1) Main Task time

- Set the motion period of the main task. The period can be set by selecting one in 0.5ms/1ms/2ms/4ms.
- Set the control time of performing in the main task of motion controller considering the execution time of program.
- When the execution time of the main task exceeds the main task period, an error occurs and if motion control module is in
RUN state, it is changed to STOP state, the operation of the motion controller is stopped immediately, and an error is
generated.
2) Periodic task time
Set the motion period of the periodic task. The period can be set in multiples of the main task between 1 ~ 100ms.
The periodic task is performed in the remaining time after performing the main task in the control period, and therefore, it can
be performed through a number of control periods.
3) Main task cycle errors
- It sets the run time of the main task that causes errors when the task runs beyond the set time. The setting range is 1~100ms.
4) Periodic task cycle errors
- It sets the run time of the periodic task that causes errors when the task runs beyond the set time. The setting range is
10~1000ms.

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5) Task program occupancy rate warning

- If the task program occupancy rate exceeds the set value because there are many main task programs or periodic task
programs, the task program occupancy rate warning occurs. It can be set in the range of 50~95%. If the task program
occupancy rate exceeds 100%, the task program occupancy rate error occurs, and it changes to the ERROR state.
6) Output Control setting
- When an error occurs in module or changing the motion mode, decide whether to maintain the data output or not.
Select Operation
Maintain the output when Decide whether to output the data normally during the operation mode
switching from RUN to STOP of motion controller is switching from RUN to STOP.
Maintain the output when Decide whether to output the data normally during the operation mode
switching from STOP to RUN of motion controller is switching from STOP to RUN.
7) Setting whether or not to turn off the Reset switch
- Sets whether or not to perform reset operation with the switch on the front panel of the product. The item can be set to
‘Allowed’ or ‘Prohibited’.
8) Restart mode
Restart by motion controller reset or turning on the power after turning off is divided into cold restart and warm restart. With
regard to restart mode, variables can be set in 3 different types such as default, initialization, and retain; and the initialization of
variables set by restart mode is as follows.
Variable Cold restart Warn Restart
Default Initialize to ‘0’ Initialize to ‘0’
Retain Initialize to ‘0’ Retain previous value
Initialization Initialize to user defined value Initialize to user defined value
Retain & initialization Initialize to user defined value Retain previous value
(b) Memory area setting
This is a parameter item which sets the retain area. Retain area can be set by checking the “M Area retain set" to activate
retain setting. Retain can be set up to 1,024Kbyte, and if the beginning and ending addresses are set to be retain in M area, the
value of relevant area is maintained even when turning off the power.

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(2) I/O parameter

(a) Built-in input/output setting

1) Input filter function

The built-in input part of the motion controller has an input filter function to prevent the external noise signal flowing into the
input signal. In environments where there is a lot of noise or in the case of the equipment where the pulse width of the input
signal acts as an important factor, the system may be subjected to incorrect input depending on the state of the input signal.
In order to prevent such mistaken input, the input filter function does not accept the signal that is shorter than the time set by
the user as input.
The input filter time can be set 1ms~100ms.
The following shows the timing diagram of the input filter function.

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Input time constant (Filter time)

Input signal

Input image data

Time

Input signal

Input image data

Pulses shorter than the input time constant

are not regarded as input signals

2) Setting output in case of error

The built-in output part of the motion controller provides the emergency output function to determine whether the output
state is maintained or cleared when the operation is stopped due to errors.
When an error occurs, the output setting can be set in units of 8 points.
When the emergency output is set to ‘No’ (Clear), the output is turned off when the operation is stopped due to errors of the
motion controller; and the output status is maintained by selecting ‘Hold’.

(b) Built-in analog setting

For more details on the built-in analog, refer to Chapter 13 Built-in Analog Function.

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(3) Built in parameter

(a) Data Log
For more details on the data log, refer to Chapter 11 Data Log Function.

(b) Encoder
Encoder parameter is explained as follows.
Item Content Setting range Initial values
0: pulse
1: mm
Encoder 1 unit Set display unit of encoder position. 0: pulse
2: inch
3:degree
Encoder1 Pulses per rotation Set Encoder1 pulses per rotation 1 ~ 4294967295 8192 pls
Set the movement amount of the load side 0.000000001 ~
Encoder1 Travel per rotation 10 pls
moved per encoder 1 rotation. 4294967295
0:CW/CCW 1 phase 1
multiplication
1: PULSE/DIR 1
multiplication
2: PULSE/DIR 2
Set the input mode in accordance with the multiplication 3: PHASE A/B 1
Encoder1 Pulse input
output shape of encoder. 3: PHASE A/B 1 multiplication
multiplication
4: PHASE A/B 2
multiplication
5: PHASE A/B 4
multiplication
Encorder1 max. value 2147483647 pls
Set position display range of encoder. Long real(LREAL)
Encoder1 Min. value -2147483648 pls
0: Unit/sec
Encoder1 Speed unit Set the encoder speed display unit. 1: Unit/min 0: Unit/sec
2: rpm
0: Unused
1: 500kPPS
2: 200kPPS
Limit the frequency of pulse input to
Encoder1 input filter value 3. 100kPPS 0: Unused
encoder.
4: 10kPPS
5: 1kPPS
6: 0.2kPPS

Encoder1 position filter time Set the time constant (in hours) of the filter to
0 ~ 1000 0 ms
constant calculate the encoder's position average.

Set whether to use the Encoder 1 Position

0: Unused
Encoder 1 Position Latch Latch function using the input contact 0: Unused
1: used
(%IX0.0.0).

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Item Content Setting range Initial values

0: pulse
1: mm
Encoder 2 unit Set display unit of encoder position. 0: pulse
2: inch
3:degree
Encoder1 Pulses per rotation Set Encoder1 pulses per rotation 1 ~ 4294967295 8192 pls
Set the movement amount of the load side 0.000000001
Encoder1 Travel per rotation 10 pls
moved per encoder 1 rotation. 4294967295
0:CW/CCW 1 phase 1
multiplication
1: PULSE/DIR 1
multiplication
2: PULSE/DIR 2
Set the input mode in accordance with the multiplication 3: PHASE A/B 1
Encoder2 Pulse input
output shape of encoder. 3: PHASE A/B 1 multiplication
multiplication
4: PHASE A/B 2
multiplication
5: PHASE A/B 4
multiplication
Encorder2 max. value 2147483647 pls
Set position display range of encoder. Long real(LREAL)
Encoder2Min. value -2147483648 pls
0: Unit/sec
Encoder2Speed unit Set the encoder speed display unit. 1: Unit/min 0: Unit/sec
2: rpm
0: Unused
1: 500kPPS
2: 200kPPS
Limit the frequency of pulse input to
Encoder2input filter value 3. 100kPPS 0: Unused
encoder.
4: 10kPPS
5: 1kPPS
6: 0.2kPPS

Encoder2position filter time Set the time constant (in hours) of the filter to
0 ~ 1000 0 ms
constant calculate the encoder's position average.

Set whether to use the Encoder 2 Position

0: Unused
Encoder 2 Position Latch Latch function using the input contact 0: Unused
1: used
(%IX0.0.1).

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(a) Encoder unit

This is to set the display unit of encoder position, and each control target can be set by pulse, mm, inch, and degree. In case of
the synchronous operation having the encoder as a center, the unit must be set by the same unit with it of the synchronous
operation axis.

Notes
When the encoder unit is different from the synchronous operation axis, it operates by the synchronous ratio
regardless of the unit.

[Example]
• Encoder unit: pulse
• Encoder resolution: 4096 pulse
• Unit of Synchronous operation axis: mm
• Master axis : Slave axis = 2 : 1

Encoder1 travel of synchronous operation axis per rotation = 4,096 x1 /2 = 2,048 [mm]

(b) Encoder Pulses per rotation

When using mm, inch, and degree for the encoder unit, set the number of purses per encoder rotation.
(c) Encoder Travel per rotation
When using mm, inch, and degree for the encoder unit, set the amount of movement of the load side moved per encoder
rotation.
[Example]
When the machine which is moved by ball screw is connected to the encoder with gear, the setting of the encoder unit /
Encoder Pulses per rotation / Encoder Travel per rotation is as follows.

· Encoder unit: mm

· Encoder Pulses per rotation = Encoder resolution x

Encoder side gear ratio

= 4096 x 7
= 2,8672 pls

· Encoder Travel per rotation = Ball screw pitch x Machine

side gear ratio

= 10.0 mm x 5
= 50.0 mm

(d) Encoder Pulse input

If you want to use by signal of a manual pulse generator or encoder, can select suitable signal of a manual pulse generator or
encoder for using. One among CW/CCW (x1), PULSE/DIR (x1), PULSE/DIR (x2), PHASE A/B (x1), PHASE A/B (x2), and
PHASE A/B (x4) must be selected and set for the encoder input signal.

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1) CW/CCW 1 phase 1 multiplication

Counts at the rising edge of A-phase input or B phase input. Increase count value if B-phase input is Low state at the rising
edge of A-phase input and decrease count value if A-phase input is Low state at the rising edge of B-phase input.

Increasing/Decreasing A-phase input pulse high A-phase input pulse low

classification
B-phase input High - decreasing count
B-phase input pulse Increasing count -
Low

2) PULSE/DIR 1 multiplication
Count operation is performed when a phase input pulse increases, whether to be added or subtracted is decided by B phase.

Increasing/Decreasing A-phase input pulse A-phase input pulse

classification rising falling
B-phase input pulse off Increasing count -
B-phase input pulse on decreasing count -

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3) PULSE/DIR 2 multiplication
Count operation is performed when a phase input pulse increases and decreases, and whether to be added or subtracted is
decided by B phase.

Increasing/Decreasing A-phase input pulse A-phase input pulse

classification rising falling
B-phase input pulse off Increasing count Increasing count
B-phase input pulse on decreasing count decreasing count

4) PHASE A/B 1 multiplication

Add operation is performed in case of the increase in A phase pulse when the phase of A phase input pulse is ahead of B
phase input pulse, and subtraction operation is performed in case of the decrease in A phase pulse when the phase of B
phase input pulse is ahead.

5) PHASE A/B 2 multiplication

Count operation is performed when both increase and decrease in a phase input pulse. Add operation is performed when the
phase of A phase is input ahead of B phase, and subtraction operation is performed when the phase of B phase is input ahead
of A phase.

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6) PHASE A/B 4 multiplication

A-phase input pulse and B-phase input pulse count at rising. If A-phase input is antecedent to B-phase input, increasing
operation starts, and if B-phase input is antecedent to A-phase input, decreasing operation starts

(e) Encoder maximum value and minimum value

1) The range of the encoder value is set to the maximum and minimum values of encoder when counting the input pulse from the
encoder signal of servo drive or manual pulse generator and indicating it to encoder value.
2) Operations are as shown in the figure below.
- In case of the increase in the encoder value

- In case of the decrease in the encoder value

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(f) Encoder speed unit

This is used to set the speed display unit of the encoder and sets the reference unit of the speed value.
0: If it is set to ‘0: unit/sec’, it is applied by the rate of change per second form the position of the relevant unit set in the「unit」
parameter. For example, if the ‘Unit’ setting is mm, the speed display unit is 'mm/s'.
1: Unit/min', it is applied as the rate of change per minute of the corresponding unit position set in ‘Unit’ parameter. For example,
if the ‘Unit’ setting is mm, the speed display unit is 'mm/min'.
When set to ‘2: rpm’, it is applied as the rpm. To display the rpm, it is used the values set in the ‘Number of pulses per rotation’
and ‘Travel distance per rotation’ parameter.

(g) Encoder input filter value

Set the filter value to limit the frequency of the pulse input to the encoder.
Possible values are 0 ~ 6 and the meaning of each value is as follows.
0: Does not limit the frequency of pulses input to the encoder.
1: Limit the frequency of the pulse input to the encoder to 500kPPS.
2: Limit the frequency of the pulse input to the encoder to 200kPPS.
3: Limit the frequency of the pulse input to the encoder to 100kPPS.
4: Limit the frequency of the pulse input to the encoder to 10kPPS.
5: Limit the frequency of the pulse input to the encoder to 1kPPS.
6: Limit the frequency of the pulse input to the encoder to 0.2kPPS.

(h) Encoder position filter time constant

Set the time for calculating the position average of the encoder input from the outside. (Unit: ms) When set to '0', the position
filter time constant is not applied.
If the deviation of the current position is severe, such as when the ‘Unit’ setting of the encoder is ‘0: pulse’, a stable position can
be obtained by applying the position average to the current position.
The following is the trace of the current position input from the external encoder. You can check the difference of the trace
position according to the position filter time constant value.

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1) Position filter time constant = 0 ms

2) Position filter time constant = 1,000 ms

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(4) EtherCAT parameter

It describes the items related to EtherCAT network settings.
When modifying the EtherCAT parameters, make sure to write the EtherCAT parameters in the Project Write menu.

(a) Master
It sets the master functions related to the EtherCAT slave connection when connecting to the network.
The items for master setting are as follows.
1) Registration information

Item Content Setting range Initial values

Specify whether to check the revision
information of the parameter matches the 0: Do not check
Slave Revision Check 0: Do not check
revision value of the actual slave when 1: Check
connecting to the network.
Specify whether to check the serial number
information of the parameter matches the 0: Do not check
Slave Serial Number Check 0: Do not check
serial number value of the actual slave when 1: Check
connecting to the network.
Specify the basic number of times to
Count of periodic
generate periodic communication time-out 1~8 2
communication time-out
errors

a) Slave Revision Check

When connecting to the network, it determines whether to proceed with the connection by comparing the revision
information set in the slave parameter with the one of the actual connected slave.

The operations according to the set values are as follows.

- ‘0: Do not check’
The communication connection process is continued without comparing the revision information set in the slave
parameter and the one in the connected slave.
- ‘1: Check’
It compares the revision information set in the slave parameter with the one in the connected slave, and if a discrepancy
is found, the network configuration mismatch error (error code: 0x0F1F) occurs and the communication connection
process is terminated.

When the criteria of ‘Slave Revision Check’ are set to ‘0: Do not check’, if the slave that is incompatible with the Revision
of the slave parameter is connected, it may not operate normally. Therefore, make sure to check the compatibility between
the Revisions before use.

b) Slave Serial Number Check

When connecting to the network, it determines whether or not to continue the connection process by comparing the serial
number information set in the slave parameter and the one of the actual connected slave.

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The operations according to the set values are as follows.

- ‘0: Do not check’
The communication connection process is continued without comparing the serial number information set in the slave
parameter and the one in the connected slave.

- ‘1: Check’
It compares the serial number information set in the slave parameter with the one in the connected slave, and if a
discrepancy is found, the network configuration mismatch error (error code: 0x0F1F) occurs and the communication
connection process is terminated.

If the ‘Slave Serial Number Check’ is set to 1: Check’, you can see the changes of the network when the network
configuration order is changed or the slave is replaced so it is useful for maintenance such as resetting the slave
parameters, etc. You need to reset the serial number in XG5000 to connect to the changed network configuration.

c) Count of periodic communication time-out

It specifies the basic number of times to generate time-out errors if the periodic data is not received during the periodic
communication between the motion control module and the slave device.
When the communication time-out error occurs frequently in various noise environments (power surges, inductive noise or
noise interference between the motion control module and the slave devices’ wiring, etc.), set the set value higher.
The available setting range is between 1 to 8 times.

2) PDO variable information

It shows the information on the memory allocation of PDO data of the registered slave.

If you want to register the variable name and use it in the program, you can register the variable to be used in the program
by selecting "Register Variable".

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(b) Slave
1) General Information
Check the information of EtherCAT slave to be used for network connection. It can be identified on the Slave Information tab
displayed after executing ‘Open’ of each slave connected to the sub-trees of [EtherCAT parameters]-[Slave] on the XG5000
project tree. To add slaves (servo drive, EtherCAT I/O, etc.), the EtherCAT parameters should be written in the Project Write.
The general information items of the slave are as follows

Item Content Setting range Initial values

Select the slave and displays the name of the
Slave name XML -
selected slave
Display the station number to be applied to 1(Increases automatically
Station number -
the selected slave. when adding the slave)
The vendor name of the selected slave is
Vendor Unavailable -
automatically displayed.
The revision of the selected slave is
Version Unavailable -
automatically displayed.
The serial number of the selected slave is 0x1600 PDO Map
Serial No Unavailable
displayed. information
0: unused
Whether DC is used Set whether or not to use the DC of the slave. 1: used
1: used
Replacement
Set whether the slave can be replaced during 0: unused
function during 0: unused
the EtherCAT communication. 1: used
connection

a) Slave name
It selects the slave to be connected to the motion control module and displays the name of the selected slave. L7NH servo
drive is selected as the initial value when adding the slave to the slave data.
When selecting the slave, the slave information is retrieved from the XML file in the folder below to display the available list.
\EtherCATXML folder in XG5000 installation folder’

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If there is a slave to be newly added, copy the corresponding XML file to the above folder and then, restart XG5000 or
execute the 'ESI Rescan' menu which is activated by right-clicking in the 'ESI Library' window.

b) Station number
It displays the station number applied to the selected slave. The display range is from 1 to 64 and it cannot be arbitrarily
changed by a user.
To change the slave station number, select the slave in the project tree and among menus by right-clicking, execute the
'Properties' menu and then, change the station number on the slave information.
However, the station number is automatically set according to the order of connection when the slave is connected
automatically.

c) Vendor
The vendor name of the selected slave is automatically displayed. The user cannot change it arbitrarily.

d) Version
The Revision information of the selected slave is displayed automatically. The user cannot change it arbitrarily.

e) Serial number
The serial number of the selected slave is displayed. When "Read Serial Number" is executed during EtherCAT
communication, serial number of the current product is displayed.

f) Whether DC is used
If the slave supports the DC function, it is automatically set form the XML file. If you do not want to use the DC function,
select ‘0: Unused’.

Notes
DC (Distributed Clock): It is used to synchronize the EtherCAT master with the EtherCAT slave, enabling high-
precision synchronous control between the EtherCAT slaves.
The DC shares the time information between the EtherCAT master and EtherCAT slave to synchronize each slave. In
order to share the time information, the first slave connected to the motion control module provides the Reference Clock.
The Reference Clock distributes the time information to each slave in every communication cycle.

g) Replacement function during connection

While using the cable duplication function, if a slave device previously not in operation due to network disconnection or a
failure is restored and connected to the network, this function detects the connection and connects to the network of the
individual slave device without having to reconnect the overall network. Then, it provides the connection with the network of
the individual slave without reconnection of the whole network.For more details on the function, refer to 8.3.6 ‘Replacement
during connection’.

2) PDO setting
RxPDO sets the synchronous data which is transmitted from the motion controller to the slave in every communication
cycle. The RxPDO items supported by the relevant slave are automatically set when selecting the slave. You can use the
‘Edit’ function to add or delete objects you want.

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Notes
For the slave used as the motion axis, when editing the RxPDO object, the following objectives must be included as
they are essential items used in the motion control module.
0x6040:0 Control word
0x607A:0 Target position

The synchronous data allocated here is automatically assigned to I/O devices and it can be registered as I/O variables and
referred in the user program.
For example, the ‘Controlworld’ object of RxPDO synchronous data of L7N servo drive connected to the slave 1 is
registered as I/O flag Rx1_1_0_ControlWord (%QW64).

TxPDO sets the synchronous data read from the slave of the motion controller in every communication cycle. When
selecting the slave, the TxPDO items supported by the relevant slave are set automatically. You can use the ‘Edit’ function
to add or delete objects you want. When editing the PDO object, the following objects must be included as they are
essential items used in the motion control module.

Notes
For the slave used as the motion axis, when editing the TxPDO object, the following objectives must be included as
they are essential items used in the motion control module.
0x6041:0 Status word
0x6064:0 Actual position
The synchronous data allocated here is automatically assigned to I/O devices and it can be registered as I/O variables
and referred in the user program.
For example, the‘‘Statusword’ object of TxPDO synchronous data of L7N servo drive connected to the slave 2 is
registered as I/O flag Tx_1_2_0_StatusWord(%IW68).

3) SDO Parameter
Set the SDO (Service Data Object) parameters operated in the slave.
- The parameters are not stored on the motion controller but are operated on the slave.
- For the setting and operation of the parameters, refer to the Appendix 3 Setting Example.

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4) Start command
- It is the function to set the specific object during transition of the slave during EtherCAT connecting operation.
- It is used for initialization of the slave parameters as well as slave Rx and TxPDO address assignment and item settings.
- It is provided up to 50 per a slave.

Item Content Setting Initial values

range
Set the transition process in which the object IP, PS, SO,
Transition None
setting function operates. SP, OP, OS
Index Set the index and sub-index of the object. XML -
Variable
Data Set the data to be configured for the object. depending on -
data type
Add the statement for the object you want to
Description - -
set.
Display the flag of the relevant ‘Start’ Fixed
Flag -
command. -

Notes
The configuration of the transition follows the below EtherCAT state transition diagram.

5) Online service
- For more information on the online service, refer to Chapter 08 Motion Control Functions -8.5.FoE Functions.

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(5) Axis parameter

(a) Axis/Slave connection
There are two types of axes that can be controlled by the motion controller; a real axis and a virtual axis. The actual axis is the
axis allocated to the actual EtherCAT slave, and the virtual axis is arbitrarily generated and controlled within the motion controller.
The slave registered as the EtherCAT slave can be assigned as the axis that can be controlled by the motion controller.
You can set the axis in the project tree by selecting [Axis parameters] - [Add item] - [Axis], or [Axis parameters] - [Axis / slave
connection].

The axes can be set to "Slave", "Virtual axis", "Disabled". The axis that is set to ‘Disabled’ is not included in the axis
parameters.

(b) Axis parameter

1) Basic setting
Basic parameter among basic settings is explained as follows.

Item Content Setting range Initial values

0: pulse
1: mm
Unit Set the command position unit of the axis. 0: pulse
2: inch
3:degree
No. of pulse per 1 Set the number of pulses per rotation of motor
1 ~ 4294967295 524288 pls
rotation which corresponds encoder resolution.
Transfer distance Set the movement amount of the load side 0.000000001 ~
10 pls
per 1 rotation moved per rotation of motor. 4294967295
0: unit/sec
Speed command
Set the command speed unit of the axis. 1: unit/ min 0: unit/sec
unit
2: rpm

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Item Content Setting range Initial values

Set the maximum speed in case of the speed Long real (LREAL) positive
Speed limit value 20000000 pls/s
command of each axis. number
0 or
Emergency stop Set the deceleration used in the sudden stop
Long real (LREAL) positive 0 pls/s2
deceleration conditions.
number
0: Incremental encoder
Encoder select Set the type of encoder to be used. 0: Incremental encoder
1: Absolute encoder
Gear ratio(Motor) 1~65535 1
Set gear ratio between the motor and the load.
Gear ratio(Machine) 1~65535 1
Specify the operation method in case
Operation mode of 0: Deceleration stop
operation direction is reversed in the input 0: Deceleration stop
the reverse rotation 1: Prompt stop
conditions of newly executed command.
Set whether to use the used function by
Position Control 0: Unused
expanding a controllable position range when 0: Unused
Range Expansion 1: used
controlling positions.
Operation mode of Set the operation mode to use during speed 0:CSP
0:CSP
Speed Contro control. 1:CSV
The maximum
Set the maximum allowable acceleration of Long real (LREAL) positive
acceleration of axis 0
axis in axis group look-ahead operation. number
group operation
The maximum
allowable
Set the maximum allowable deceleration of Long real (LREAL) positive
decceleration of 0
axis in axis group look-ahead operation. number
axis group
operation

a) Unit
This is used to set the command unit during motion control, and depending on the control target, the unit of pulse, mm, inch,
and degree can be set for each axis.
When changing the setting of the unit, other parameters or variable values are not changed. Therefore, when changing the
units, the relevant parameters must be reset so that they can be adjusted to the setting range of the relevant unit.

b) 1 Pulse per revolution

When using mm, inch, and degree for the motion control command units and indicating the speed in rpm, the number of
pulses required per motor rotation is set to be used.

c) Travel per rotation

Set the movement amount of the load side per motor rotation when using mm, inch and degree for motion control
command unit. How the machine moves from a rotation of motor is determined by the structure of the machine.
d) Speed command unit
The base unit of the value of the speed used for the motion control command is set.
If it is set to ‘0: unit/sec’, it is applied by the rate of change per second of the relevant unit position set in the「unit」
parameter. For example, if the setting of the 「unit」is in mm, the unit of the speed command is ‘mm/s’.
If it is set to ‘1: unit/min’, it is applied by the rate of change per minute form the position of the relevant unit set in the「unit」

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parameter. For example, if the setting of the 「unit」is in mm, the unit of the speed command is ‘mm/min’.
When set to ‘2: rpm’, it is applied as the rpm. If the speed command unit is rpm and it is internally changed to the unit speed,
values set in the 「Pulses per rotation」and 「Travel per rotation」parameters are used.
When changing the setting of the speed command unit, other parameters or variable values are not changed. Therefore,
the related parameters must also be reset according to the setting range of the relevant unit.

e) Speed limit value

Speed limit refers to the maximum rate of the available setting of motion control operation.
When operating the relevant axis, the operation speed should be set below the speed limit set.

f) Emergency stop deceleration

Deceleration in the event of a sudden stop sets the deceleration for situations where a sudden stop needs to be made
while operating the axis due to internal or external factors.
Conditions for emergency stop are as follows.
 In case the software upper limit/lower limit is detected

 In case the operation speed of the serve axis exceeds the speed limit in synchronized operation (gear, cam)

 In case the setting for「error level of tracking error」is ‘1: alarm’ and the error of tracking error occurs

 In case the emergency stop command is executed during the test operation in XG5000

 In case an error occurs in the command executed while axis is currently operating during the checking of

execution conditions

(Except for occasions when restarting the command or ContinuousUpdate is activated.)

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g) Select the Spindle Encoder

Set the type of encoder to be used. When using the absolute position system, select 1: absolute encoder.
The following shows the setting of “Encoder select”

Item Setting Value Content

After power on/off, the previous location of servo motor is not
0: Incremental encoder maintained.
Encoder After power of/off, origin fix state is off.
select The absolute position system is activated.
1: absolute encoder After power on/off, the previous location of servo motor is maintained.
Origin fix state maintain last condition before power on/off.
In order to use the absolute positioning system, the following three conditions must be satisfied.
- Servo motor: using absolute encoder
- Servo drive SDO parameter absolute encoder setting (0x2005) = 0
- Encoder selection of axis parameter – ‘1: Absolute encoder’ setting

h) Gear ratio (Motor, Machine)

Set gear ratio between the motor and the load. If it is a structure that the load side rotates n times when the motor side
rotates m times, set the gear ratios as below.
• Motor side gear ratio = m
• Machine side gear ratio = n
If the 「unit」setting is ‘0: pulse’, this parameter is invalid.

[Example]
When the machine which is moved by ball screw is connected to the encoder with gear, the setting of the encoder unit
/ Encoder Pulses per rotation / Encoder Travel per rotation is as follows.

· unit: mm
· Pulses per rotation = 524288 (19Bit Encoder)
· Travel per rotation = Ball screw pitch
= 10.0 mm
· Gear ratio(Motor) = 7
· Machine side gear ratio = n

Notes
If [Unit]is set to ‘0: pulse’ in the above [Setting example], it will move to the position corresponding to the number of
encoder pulses without regards to the motor side gear ratio or machine side gear ratio.
That is, the instructions of 524,288 * 7/5 = 734,003 pulse should be issued in order to move 10mm.

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i) Operation mode of the reverse rotation

Specify the operation method in case operation direction is reversed in the input conditions of newly executed command.
When starting or restarting the command which the BufferMode is Aborting, or activating ConinuousUpdate, in case where
the command condition and the current operating direction are in reverse of each other, stop it by following the method set
in the parameter, and start operation in the set speed.
If the BufferMode is not Aborting, it is run in the specified continuous running method in the BufferMode rather than the
method set in the parameter.

- ‘0: Deceleration stop’

When the operation direction is reversed by the condition of newly executed command, make a deceleration pause
to 0 speed and continue accelerating to the target position or operate at the targeted speed.

- ‘1: Prompt stop’

When the operation direction is reversed by the condition of newly executed command, stop immediately and
continue operating in the opposite direction in the same operation speeds to the target position or at the targeted
speed.
0: Deceleration stop 1: Immediate stop

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j) Position Control Range Expansion

Set whether to use the used function by expanding a controllable position range when controlling positions. An error occurs
when a position exceeds the position control range after conversing the unit position set to LREAL into the pulse unit when
specifying the target position in motion control commands.
The position control range according to parameter setting is as follows.
Item Setting value Position Control Range
0: Unused Integer type 32 bits, -231 ~ 231-1 (-2,147,483,648 ~ 2,147,483,647)
Position Control Range
Integer type 48 bits, -231 ~ 231-1 (-140,737,488,355,328 ~
Expansion 1: used
140,737,488,355,327)

k) Speed control operation mode

Set the operation mode to use during speed control command like MC_MoveVelocity command
The speed control operation mode can be set to 0: CSP 1: CSV

l) Axis group maximum allowable acceleration/deceleration.

The maximum allowable deceleration of axis group operation maximum allowable acceleration/deceleration operation is
applied when using look-ahead function in axis group operation.
When exceeding the maximum allowable acceleration/deceleration during operating axis group look-ahead function,
operate decelerating not to exceed axis acceleration. For details, refer to chapter 8.4.13 Axis group operation maximum
acceleration limit function.

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2) Expansion setting
The following explains extended parameter of operation parameter

Item Content Setting range Initial values

S/W upper limit 2147483647 pls
Set the range of software limit function Long real(LREAL)
S/W low limit -2147483648 pls
Set repeated position range value in case of
Long real (LREAL) positive
Infinite running repeat position being used as infinite running repetition 360 pls
number
mode
Set whether to allow infinite running 0: Disable
Infinite running repeat 0: Disable
repetition operation function. 1:Enable
0 or
Set the range where in-position signal is On
Command in-position range Long real (LREAL) positive 0 pls
before completion of positioning.
number
0 or
Tracking error over-range Set the value to detect more than position
Long real (LREAL) positive 0 [unit]
value deviation.
number
0: warning
Tracking error level Set the error level more than deviation. 0: warning
1: alarm
Set the compensation threshold to indicate 0 or
Current pos. compensation
the current position value as the target Long real (LREAL) positive 0 [unit]
amount
position value. number
Current speed filter time Set the time to calculate movement average
0 ~ 100 0 ms
constant of the current speed.
Set the monitoring time in case of resetting
Error reset monitoring time 1 ~ 1000 100 ms
error that occurs in servo drive
Software limit during speed Set whether the soft limit is detected during 0: Not detect
0: Not detect
control the speed control. 1 : detect
Set the method of applying the input value, 0: Specified by ratio 0: Specified by
Override mode
when override command is executed. 1: Specified by unit ratio
JOG high speed Long real (LREAL) positive 100000 pls/s
Jog low speed Set the values of speed / acceleration / number 10000 pls/s
JOG Acceleration deceleration / jerk which is referred in jog 0 or 100000 pls/s2
JOG Deceleration operation command Long real (LREAL) positive 100000 pls/s2
JOG Jerk number 0 pls/s3
Backlash compensation Set the Backlash compensation amount. 0~65535
0
amount
Drive absolute position error Set the operation mode while the drive 0: not detect
0: not detect
detection absolute position error occurs 1: homing initialization

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a) Software upper/lower limits

This is a function which sets the available range of the movement of the machine in the way of software by setting the
upper limit & lower limit and allows the machine not to be operated beyond the set range. That is, this function is used to
prevent any breakaway by incorrect operation position setting and incorrect operation by user program fault.
External input upper/lower limit can be also set besides the software upper/lower limit.

The range check of the software upper limit and lower limit is conducted at the beginning of operation and during the
operation.
If the soft upper limit and lower limit is detected, an error occurs and the module suddenly stops a motor. Therefore,
check the cause of the error and use it after resetting the error when restarting the operation.
If the software upper/lower limit was set by default values (upper limit: 2,147,483,647, lower limit: -2,147,483,648) or
same value, then it would not detect software upper/lower limit.

b) Infinite running repeat position

When using in infinite running repeat mode, set the position value which is repeated.
This is applied when the setting of extended parameter, 「Infinite running repeat」parameter, is ‘1:Enable’.
When the 「Infinite running repeat」 parameter is ‘1:Enable’, the command position and current position is indicated
as "0~ (infinite running repeat position of -1). 「Unit」= 0: pulse based

Infinite running

c) Infinite running repeat

Set whether to allow infinite running repetition operation function.
If this parameter is set to ‘1: Enable’, the display of the command position and current position is updated periodically
and automatically in the range set in the infinite length repetition position.
You must set it to ‘0: Disable’ when you are not using the infinite running repeat operation function.

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d) Command in-position range

//This item sets the distance to the target position where in-position flag (_AXxx_INPOS) is On.
When starting up the motion control, the in-position flag (_AXxx_INPOS) is Off, and it is On when the current position
goes inside the「Command in-position range」from the target position.
In-position flag can be used as a trigger when executing other assistant work before completing the position control.//

This item sets the distance to target position where the In-position flag (_AXxx_INPOS) becomes on.
During operating motion control, the in-position flag( (_AXxx_INPOS) turns off and when the difference between target
command position and current position is less than the command in-position width, the in-position flag( (_AXxx_INPOS)
turns on. the in-position flag can be used as trigger when executing other auxiliary tasks before completing position
control.

Position
Command inposition width
Target position

Command
position Current
position
Time
Speed
Command
speed
Current
speed

Time

Start

Inposition flag

e) Exceeding value of tracking error

Set the value to detect more than position deviation. If a value exceeds this range, the 「Over deviation warning
(_AXxx_DEV_WARN)」 or 「Over deviation alarm(_AXxx_DEV_ERR)」flag is On.
If this set value is 0, it won’t detect the value over the deviation. You can set whether you want it to be a warning or an
alarm for over deviation in the 「Error level of tracking error」of the expanded parameter.

f) Tracking error level

Set whether to make it a warning or an alarm when the value over deviation is detected.
The operations according to the set values are as follows.
- ‘0: warning’
When an error occurs in tracking error, the 「Over deviation warning (_AXxx_DEV_WARN)」flag is On, and
warning error of tracking error (error code: 0x101D)) occurs. The axis continues to operate without stopping.
- ‘1: alarm’
When an error occurs in tracking error, the 「Over deviation alarm (_AXxx_DEV_ERR)」flag is On, and the alarm
error of tracking error (error code: 0x101C) occurs. The axis suddenly stops at the 「 Emergency stop
deceleration」of basic parameter.

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In the following situations, the error in tracking error is not examined.

 In case the「Tracking error over-range value」is 0
 In case of the operation in homing or torque control

g) Current position compensation amount

Current position compensation amount is a parameter unit used to display the current position value as the command
position when the servo motor’s current position value is not displayed as a fixed value but changed slightly depending
on the personal setting of the user application and the servo drive.
When it is not in operation and if the difference of the command position and the current position is within the amount of
compensation in displaying current position, the current position value is displayed as a command position value. When
it is in operation, Current position compensation amount is not reflected, and the actual position value is displayed.
The following is an example of application of Current position compensation amount according to the value of Current
position compensation amount when the command position is ‘0’.

① Current position compensation amount = 0 pls

Position value of the actual motor is displayed as the current position value even after the end of operation.

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② Current position compensation amount = 50 pls

If the current position value is within ±50 of command position after the end of operation, it is displayed as the
command position value.

③ Current position compensation amount = 100 pls

If the current position value is within ±100 of command position after the end of operation, it is displayed as the
command position value.

h) Current speed filter time constant

Set the time to calculate movement average of the current speed. (unit: ms) Current speed filter time constant is not
applied if it is set to '0'.
When the speed of axis is slow or there are wide variations in current speed (ex. 「unit」 setting is ‘0: pulse’, stable
speed can be achieved by applying the average of movement to the current speed.
You can check the differences in current speed depending on the value of Current speed filter time constant in the list
below which traces command speed and current speed at 10 mm/s of command speed.

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① Current speed filter time constant = 0 ms

② Current speed filter time constant = 50 ms

③ Current speed filter time constant = 100 ms

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i) Error reset monitoring time

Set the monitoring time in case of resetting error that occurs in servo drive (Unit: ms)
If the error which occurred in the servo drive within the error reset monitoring time, error reset monitoring is terminated
and error reset time out error of servo drive (error code: 0x1070) is occurred.

j) Software limit during speed control

When software limit is detected during the operation at fixed speed by speed control, this is used to stop the motor.

The operations according to the set values are as follows.

- ‘0: Not detect’
If it is under the speed control even when the software limit function is activated, software limit is not detected.
- ‘1 : detect’
If it is under the speed control even when the software limit function is activated, software limit is detected.

Even when the parameter value is set to '1: detect', if the software upper limit/lower limit is set to the initial value (upper
limit: 2,147,483,647, lower limit:-2,147,483,648) or the same value, software limit is not detected.

k) JOG high speed / JOG low speed

Jog speed is related to Jog operation (a kind of manual operation) and has 2 types of operation: Jog low speed
operation and Jog high speed operation.
Jog is operated in the pattern with the areas of acceleration, fixed speed, and deceleration. Therefore, the acceleration
area is controlled by jog acceleration time and the deceleration area is controlled by jog deceleration time.
Setting range of JOG high speed cannot exceed the speed limit. Also, JOG high speed must be the same with or
bigger than JOG low speed.

l) JOG acceleration, JOG deceleration, JOG jerk

Set the values of acceleration, deceleration, and jerk which are applied in the case of JOG high speed and JOG low
speed operation. If JOG acceleration is 0, it is operated immediately at JOG set speed without acceleration area at the
beginning of JOG operation. If JOG deceleration is 0, it is stopped immediately at 0 without deceleration area at the stop
of JOG operation. If JOG jerk is 0, the form of acceleration/deceleration is in a linear as acceleration is fixed

m) Backlash compensation amount

If a gear, a screw and more is combined to the motor axis, the tolerance of the machine does not work by wear, when
the rotation direction changes, is called ‘Backlash’. Therefore, when changing the rotation direction, a backlash
compensation amount should be added to the amount traveled to avoid the machine position tolerance.
As presented in the following figure, if the position is moved 1m to the right and again 1m to the left, it is not possible to
reach the original position by backlash.

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기어
Gear
1m
1m 우측으로
movement 이동(정방향)
right side (Forward) Occurrence of
direction
방향변경 change
1mmovement
1m 좌측으로left이동(역방향)
side (Reverse) 백래쉬 Backlash발생

백래쉬including
Transfer amount 보정을 포함한
Backlash 이동량 amount
compensation

백래쉬
Backlash

The backlash compensation amount can be set to the pulse unit from 0 to 65535. If the ‘Unit’ parameter value is not ‘0:
pulse’, Please set a range as follows:
0 ≤ [Backlash compensation amount X (Pulse number per rotation / Transfer distance per rotation) X (Gear ratio on the
motor / Gear ratio on the machine)] ≤ 65535

Notes
1. The ‘backlash compensation amount’ parameter generally operates only on the axis connected to the S axis of
the NC channel that is for the spindle axis on which the spindle device does not support the backlash
compensation function. For the NC channel/axis excluding general axes and the NC S axis, use the backlash
function that a servo drive supports.
2. The ‘backlash compensation amount’ is output by adding the amount traveled to the original position when the
traveling direction of machine changes after becoming the origin fix state. The backlash compensation amount
applies only to the position control operation such as the spindle orientation operation but does not apply to the
speed control.

n) Drive absolute position error detection function

The homing status can be initialized in drive using drive absolute error detection function if initializing homing status
while an absolute position error is detected. It can be used only the drive that supports an absolute position valid
signals.

Drive
L7NH, PEGASUS,
LS
iX7NH

① When the absolute positon of drive occurs damaged situation (the encoder cable open) in the homing status, it is
used to initializing homing status and prevent malfunction of operation caused by an absolute position error.
② This function only operates drive that supports an absolute position valid signal.
③ The drive absolute position error detection of extended parameter is 1: the function operates when homing status is
set to initialization.
④ If detecting that an absolute position valid signal of drive change from On to Off through EtherCAT communication,
the homing status of the relevant axis is initialized and axis error (absolute position abnormality detection error:
0x1240) occurs.

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⑤ If the absolute position valid signal is off while the communication is connected through EtherCA connection
command, the homing status of relevant axis is initialized.
⑥ When changing the drive absolute position error detection of extended parameter from 0: not detect to 1: drive
absolute position error detection, if the absolute position valid signal of relevant axis is off, the homing status of
relevant axis is initialized and an axis error (an absolute position abnormality detedction error: 0x1241) is occurred.
⑦ If executing the current position setting function while drive absolute position valid signal of relevant axis is off, the
axis errors (an absolute position abnormality detection error during executing the current position setting: 0x1096)
occurs

3) NC Spindle Axis Setting

Explain about the NC Spindle Axis Setting of axis parameters.

Item Content Setting range Initial values

0: Unused
1: Motor ENC
Set the method that an encoder attached to a
Select the Spindle Encoder 2: Built-in ENC1 0: Unused
motor of the spindle axis is connected.
3: Built-in ENC2
4: EtherCAT ENC
Number of pulses per If the ‘spindle encoder selection’ parameter
rotation of the spindle setting value is ‘4: EtherCAT ENC’, set number 1 ~ 4294967295 8192 pls
EtherCAT encoder of pulses per rotation of an encoder.
If the ‘spindle encoder selection’ parameter
%ID0 ~ %ID4095
Spindle EtherCAT encoder setting value is ‘4: EtherCAT ENC’, set the
%MD0 %ID0
position variable/address device where the current position of the
~ %MD524287
encoder is saved.
The P Gain of the Spindle Set the P gain value that the spindle axis uses
1 ~ 500 Hz 30 Hz
Positioning Mode when controlling position.
The Feed Forward Gain of
Set the feed forward gain value that the spindle
the Spindle Positioning 0 ~ 100 % 0%
axis uses when controlling position.
Mode
a) Select the Spindle Encoder
The spindle axis is basically operated by speed control. But there are some cases where the position control operation
such as the orientation operation is needed according to NC operation. Setting of the ‘Spindle Encoder Selection’
parameter is needed to operate the spindle axis by position control. In addition, setting of the ‘Spindle Encoder
Selection’ parameter is needed to execute the homing operation to make the spindle axis become the origin fix state.
 0: Unused
If the ‘spindle encoder selection’ parameter is ‘0: Disable’, a spindle axis can only perform the speed control-based
operation. Errors occur when running the position control operation.
 1: Motor ENC
Set it if the position confirmation is possible by accepting the input of encoder signals of a motor on drives such as
a servo drive. The position actual value (0x6064:0) object should be set in the setting of the EhterCAT Slave
TxPDO.
 2: Built-in ENC1

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If confirming a position by attaching a separate encoder to the motor of the spindle axis, the position can be
confirmed by connecting encoder signals to the built-in ENC1 of a motion controller.
When using the ‘built-in ENC1’, set the ‘built-in parameter - encoder’ as follows:
- Unit of Encoder 1 = 0: pulse
- Encorder1 max. value = 2147483647 pls
- Encorder1 min. value = -2147483648 pls
 3: Built-in ENC2
If confirming a position by attaching a separate encoder to the motor of the spindle axis, the position can be
confirmed by connecting encoder signals to the built-in ENC2 of a motion controller.
When using the ‘built-in ENC2’, set the ‘built-in parameter - encoder’ as follows:
- Unit of Encoder 2 = 0: pulse
- Encorder2 max. value = 2147483647 pls
- Encorder2 min. value = -2147483648 pls
 ‘4: EtherCAT ENC’
Set it if confirming a position by attaching a separate encoder to the motor of the spindle axis and connecting it to
the EtherCAT slave (high speed counter device). To confirm the encoder position value read from the EtherCAT
slave, the following parameter setting is needed.
- Number of pulses per rotation of the spindle EtherCAT encoder
- Spindle EtherCAT encoder position variable/address
b) Number of pulses per rotation of the spindle EtherCAT encoder
If the ‘spindle encoder selection’ parameter is set to ‘4: EtherCAT ENC’, set the resolution of the encoder attached to a
motor.
c) Spindle EtherCAT encoder position variable/address
If the ‘spindle encoder selection’ parameter is set to ‘4: EtherCAT ENC’, the position value of the encoder read from the
EtherCAT slave sets the saved variable/address. You can specify the input variable (I) and direct variable (M).
The address value that can be set according to variables is as follows:
- %ID0 ~ %ID4095
- %MD0 ~ %MD524287
d) The P Gain of the Spindle Positioning Mode
The spindle axis is basically operated with speed control, and the speed command value is output to the device that
controls the spindle axis. However, some spindle functions may require position control operation. When the spindle
axis executes position control operations such as the homing operation and orientation operation, the position loop that
calculates the output speed with the command position and the current position operates.
The ‘P Gain of the Spindle Positioning Mode’ sets all the responses from the position loop. The bigger the gain value is
set the higher the responses become. However, as vibration can occur according to load if setting the gain value too big,
adjust the gain value accordingly after taking proper actions for safety.
e) The Feed Forward Gain of the Spindle Positioning Mode
The ‘Feed Forward Gain of the Spindle Positioning Mode’ is used to add the control value that is proportional to a speed
command of the spindle axis from the position loop to the output speed. The bigger the gain value is set the less the
tolerance is. But as vibration or overshoot can occur according to load if setting the gain value too big, adjust the gain
value accordingly after taking proper actions for safety.

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Notes
From the position loop of the spindle axis, the ‘P Gain of the Spindle Positioning Mode’ and ‘Feed Forward Gain of
the Spindle Positioning Mode’ values are operated as follows.

4) NC Spindle homing Setting

Explain about the NC Spindle Homing Setting of axis parameters.

Item Content Setting range Initial values

0: Servo drive supported
Set the homing operation method
33: Reverse direction, Z phase
How to conduct the homing that is run when executing the 0: Servo drive
34: Forward direction, Z phase
operation NC_Home command on the spindle supported
35: Set the homing of the current
axis.
position
Set the operated speed to detect
Switch navigation speed of the
switch signals after starting the 60 rpm
homing operation
homing operation. Long real (LREAL) positive
Set the operated speed to detect number
Zero navigation speed of the
zero signals after starting the homing 12 rpm
homing operation
operation.
Set acceleration/deceleration to
0 or
Acceleration/deceleration of accelerate and decelerate to the
Long real (LREAL) positive 1000 deg/s2
the homing operation target speed after starting the homing
number
operation.
Set the device where the Z phase
%IX0 ~ %IX131071
Z phase variable/address signal used as the Zero signal of the %IX0
%MX0 ~ %MX16777215
homing operation is saved.
Long real (LREAL) positive
Orientation velocity When the M19 Orientation command 60 rpm
number
is executed on the NC program, set
0: forward direction
Orientation direction the Orientation offset position and 0: forward direction
1: reverse direction
velocity, and the traveling direction.
Orientation offset 0 ~ 360 0

a) Homing operation method

Set the homing operation method that is run when executing the NC_Home command on the spindle axis.
 0: Servo drive supported
If the spindle drive connected to the spindle axis is a servo drive, the homing operation supported by the servo drive is
executed. The servo drive parameter used for the homing operation is Homing method (0x6098:0).
 33: Reverse direction, Z phase

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Set the Z phase position as the homing after executing the homing operation on the NC function module of a motion
controller and starting reverse operation.
When executing the NC_Home command, execute the homing operation with parameters; zero navigation speed of
the homing operation and acceleration/deceleration of the homing operation. Set the device where the Z phase signal
used as the Zero signal of the homing operation for ‘Z phase variable/address’ parameters is saved.
 34: Forward direction, Z phase
Set the Z phase position as the homing after executing the homing operation on the NC function module of a motion
controller and starting forward operation.
When executing the NC_Home command, execute the homing operation with parameters; zero navigation speed of
the homing operation and acceleration/deceleration of the homing operation. Set the device where the Z phase signal
used as the Zero signal of the homing operation for ‘Z phase variable/address’ parameters is saved.
 35: Set the homing of the current position
It is used when setting the current position of the spindle axis to the homing.
b) Switch navigation speed of the homing operation, Zero navigation speed of the homing operation,

Acceleration/deceleration of the homing operation

‘Homing operation method’ parameter is ‘33: reverse direction, Z phase’, ‘34: forward direction, Z phase’, and the
homing operation is executed on the NC function module of a motion controller, set velocity and
acceleration/deceleration.
c) Z phase variable/address
‘Homing operation method’ parameter is ‘33: reverse direction, Z phase’, ‘34: forward direction, Z phase’, set
variables/addresses where the Z phase signal used as the Zero signal of the homing operation is saved. You can
specify the input variable (I) and direct variable (M).
The address value that can be set according to variables is as follows:
- %IX0 ~ %IX131071
- %MX0 ~ %MX16777215
d) Orientation velocity
When the M19 Orientation command is executed on the NC program, set the command speed of the Orientation
operation.
e) Orientation direction
When the M19 Orientation command is executed on the NC program, set the operation direction of the Orientation
operation.
 0: forward direction
 1: reverse direction
f) Orientation offset
When the M19 Orientation command is executed on the NC program, set the target position value of the Orientation
operation. After starting operation in the direction set to the ‘Orientation direction’ parameter, stop it at the position set to
the ‘Orientation offset’. The range of the set value is 0 to 360 degrees.

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5) NC Spindle Control Setting

Explain about the NC Spindle Control Setting of axis parameters.

Item Content Setting range Initial values

The tolerance range to reach
Determine whether to reach the command
the spindle rotation command 0 ~ 100 % 95 %
speed of the spindle axis by the set value.
speed
The tolerance RPM to reach Determine whether to reach the zero speed
0~ 100 rpm 5 rpm
the spindle rotation zero speed of the spindle axis by the set value.
a) The tolerance range to reach the spindle rotation command speed
When an axis operates as the spindle axis as it is connected to the NC S axis, the range is used to set the range to
confirm whether the current speed value of the spindle axis reaches the target speed.
The ‘signal to confirm whether to reach the spindle command speed’ (_NC01_SpindleCVelAgr) flag turns On, if
satisfying the following conditions:
→ ‘Actual transfer speed of the S axis’ ≥ [‘Target speed of spindle (S command value)’ X (‘Tolerance range to reach the
spindle rotation command speed’ / 100)]

b) The tolerance RPM to reach the spindle rotation zero speed

When an axis operates as the spindle axis as it is connected to the NC S axis, the range is used to set the RPM speed
value to confirm whether the current speed value of the spindle axis reaches the zero speed.
The ‘signal to confirm whether to reach the spindle command speed’ (_NC01_SpindleZeroVel) flag turns On, if
satisfying the following conditions:
→ ‘Actual transfer speed of the S axis’ ≤ ‘Tolerance RPM to reach the spindle rotation zero speed’.

(6) Axis Group parameter

1) Basic setting
Basic setting item is explained as follows.

Item Content Setting range Initial values

None
Configuration axis 01~ 10 Set the axis which form axis group. 1Axis~ 32Axis(Real/Virtual axis), None
33Axis ~ 36Axis(Virtual axis)
Set max speed of operation about Long real (LREAL) positive
Interpolation speed max 20000000 u/s
axis group. number
0: Specified by ratio 0: Specified by
Override mode Set the override mode.
1: Specified by unit ratio
Set the whether to use the
Interpolation operation 0: Disable 0: Disable
interpolation operation blending angle
blending angle limit 1: Enable
limit function.
When using the interpolation
Interpolation operation
operation blending angle limit, set the 2 ~ 178, real (LREAL) 178 degree
blending allowable angle
blending allowable maximum angle.
Coordinate system look Set the number of Coordinate system
1 ~ 10, integer 1
ahead settings look ahead buffer.
Coordinate output filter time Set the value of Coordinate output 0 ~ 100, real(LREAL) 0 ms

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constant filter time constant.

Rotation operation/linear Set the ratio of rotation Long real (LREAL) positive
0
operation conversion ratio operation/linear operation conversion. number

(a) Configuration axis setting

Set the number of each axis which belongs to the relevant axis group. Each axis group can include up to 10 axes.
Virtual axis can also be set in the axis group parameter.
Axis setting must be set in order in axis group which executes circular interpolation or helical interpolation command. In other
words, 「axis setting 1」 is X-axis of the arc, 「axis setting 2」 is Y-axis of the arc, and 「axis setting 3」 is Z-axis of helical
interpolation.
Therefore, if circular interpolation command is executed when setting the axis group, errors occur as follows.
- In case the axis group is comprised of 4 axes (error code:0x20A9)
- In case the set value of 「axis setting 1」or 「axis setting 2」 is ‘none’(error code: 0x20AA)
- In case the set value of「axis setting 3」is 'none' and the remaining axes are set (Error code: 0x20AA)

(b) Interpolation speed max

This refers to the configurable maximum speed of interpolation control operation when controlling interpolation with axes which
belongs to the relevant axis group. In case of interpolation operation of the relevant axis group, interpolation speed must be set
below the set Interpolation speed max.

c) Override mode
When executing override command at relevant axis group, set how to apply the input values.
0: Specified by ratio, 1: Specified by unit can be set. If setting 0: Specified by ratio, the factor value of override command
operates as ratio for the current setting item. If setting 1: Specified by unit, the factor value operates absolute specified value
of setting item.

d) Interpolation operation blending angle limit, Interpolation operation blending allowable angle
Set the blending angle limit function for the relevant axis group. You can set to operation after the deceleration stop
in the place where a shock is expected to occur due to the large angle difference between the two operations of
blending angle limit. You can set 0: disable , 1: enable in interpolation operation blending angle limit and set the
value of 2 to 178 in the interpolation operation blending allowable angle. For details, refer to chapter 8.4.11
Interpolation operation blending angle limit function.

e) Look ahead setting

Set the look ahead function for relevant axis group. The look ahead function is function that determines whether the
current operation is acceleration/deceleration by determining the movement distance/speed/acceleration/jerk of the
next command in the continuously executed operation. If using the look ahead function, you can solve the
deceleration problem due to insufficient deceleration distance when blending continuously the short operation of
movement distance. The look ahead setting is 1 to 10. For details, refer to chapter 8.4.14 Look ahead function.

f) Coordinate output filter time constant

By setting the time constant of output filter function for the relevant axis group. If setting the output filter function
during executing axis group motion, alleviating acceleration shock that occurs in axis and executing more soft

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operation. For details, refer to chapter 8.4.15 Coordinate operation output filter function.

g) Rotation operation/linear operation conversion ratio (Angular distance conversion constant)

Set the angular distance conversion constant for the relevant axis group. The angular distance conversion constant
is used when calculating the movement distance during executing the coordinate system linear interpolation
operation in an axis group. When the values of Rotation operation/linear operation conversion ratio is 0, determining
not to be used.

2) Coordinates system setting

Coordinate system setting item is explained as follows.

Item Content Setting range Initial values

0: none,
1: XYZ
Set the type of robot that is applied in the 2: Delta3
Coordinate system 0: none
operation of coordinate system. 3: Delta3R
4: LinearDelta3
5: LinearDelta3R
Coordinate system Set the parameters of the machine depending
- -
parameter on the type of coordinate system.

(a) XYZ
XYZ is a robot where the axis set in 「axis setting 1」in X-axis, the axis set in 「axis setting2」in Y-axis, and the axis set in
「axis setting 3」in Z-axis make a one-to-one correspondence and move in Cartesian coordinate. If the type of coordinate
system is set to XYZ, there is no need to set the coordinate system parameters.

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(b) Delta3/3R
Delta is the delta robot consisting of three rotation axes. If you set the coordinate system type as Delta, you need to set the
parameters of the five coordinate systems; Rf / Rm / Lf / Lm
Parameter Description

Rf
Length from the center of the fixed frame to
Fixed frame radius (Rf)
the link of the fixed frame(mm)

Link length of fixed frame

Link length of fixed frame (mm)
(Lf)

Link length of the moving

Link length of the moving frame (mm)
frame (Lm)
Length from the center of the moving frame
to the link of the moving frame(mm)
Moving frame radius Rm) (In the left figure, the X, Y coordinates of the
Rm
fixed frame and the moving frame are the
Rm
same)

(c) LinearDelta3/3R
LinearDelta is the delta robot consisting of three linear axes. If you set the coordinate system type as LinearDelta, you
need to set the parameters of the five coordinate systems; Lm / Hf / RfTop / RfBottom / Rm.
Parameter Description

RfTop Link length of the moving

Link length of the moving frame (mm)
frame (Lm)
hf

RfBottom
Height of fixed frame (Hf) Height of fixed frame (mm)

Radius of fixed frame (Rf)

Radius of fixed frame (mm)
(RfTop)

Radius of fixed frame (Rf)

Rm Radius of fixed frame (mm)
(RfBottom)
Length from the center of the moving frame
Rm
to the link of the moving frame(mm)
Radius of moving frame
(In the left figure, the X, Y coordinates of the
(Rm)
fixed frame and the moving frame are the
same)

d) T-Gantry/R
For T-Gantry robots, the machine parameter setting does not need additionally.

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3) Tools setting
Tool setting item is explained as follows.
Item Content Setting range Initial values
X-axis offset Set the X axis offset at the end(tool) of robot Long real(LREAL) 0
Y-axis offset Set the Y axis offset at the end(tool) of robot Long real(LREAL) 0
Z-axis offset Set the Z axis offset at the end(tool) of robot Long real(LREAL) 0
The tool setting parameter enables the position of the tool to be set as an offset so that the end of the tool can be controlled when
using a separate tool at the end of the robot.

4) Work space setting

Work space setting item is explained as follows.
Item Content Setting range Initial values
0: Rectangle
1: Cylinder
Work space type Set the type of work space. 0: Rectangle
2: Delta
3: Sector
Workspace error Set whether or not an error occurs when 0: Disable
0: Disable
check leaving the workspace. 1:Enable
Work space Set the parameter in according to work space
Long real(LREAL) 0
parameter type.

(a) Rectangle
Parameter Description
Y Axis
Work space parameter1 X min(mm)
Work space parameter2 X max(mm)
Work space parameter3 Y min(mm)
Ymax

Xmin Work space parameter4 Y max(mm)

Xmax
Ymin

Work space parameter5 Z min(mm)

X Axis
Work space parameter6 Z max(mm)
- -
(b) Cylinder
Parameter Value
Z Axis Work space parameter1 Radius(mm)
Radius
Work space parameter2 Z min(mm)
Work space parameter3 Z max(mm)
Zmax
Zmin

X Axis

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 Chapter5 Memory and Parameter

(c) Delta
Z Axis Parameter Value
YAxis
Work space parameter1 Zu(mm)
Work space parameter2 Hcy(mm)
Zu

Work space parameter3 Hco(mm)

Rcy Work space parameter4 Rcy(mm)

Work space parameter5 Rco(mm)
Hco Hcy

Rco

(d) Sector
Parameter Value
Y Axis Work space parameter1 L start(mm)
Work space parameter2 L end(mm)
Work space parameter3 Z min(mm)
Work space parameter4 Z max(mm)
EndAngle Work space parameter5 SartAngle(degree)
StartAngle
Work space parameter6 EndAngle(degree)
X Axis

5) PCS setting
PCS setting item is explained as follows.
The PCS parameter sets the origin of the workpiece to PCS to facilitate the operation of moving over a specific workpiece in
the coordinate system operation. In the PCS coordinate system operation, the coordinate system operation is performed with
the set PCS as the origin.

Item Content Setting range Initial values

Set X-axis move distance from MCS
X-axis move Long real(LREAL) 0 mm
origin to PCS origin.
Set Y-axis move distance from MCS
Y-axis move Long real(LREAL) 0 mm
origin to PCS origin.
Set Z-axis move distance from MCS
Z-axis move Long real(LREAL) 0 mm
origin to PCS origin.
X-axis rotation Set X-axis rotation value of PCS. -360~360 0 deg
Y-axis rotation Set Y-axis rotation value of PCS.. -360~360 0 deg
Z-axis rotation Set Z-axis rotation value of PCS. -360~360 0 deg

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6) JOG operation setting of the coordinate system

JOG operation setting item is explained as follows.
The JOG speed parameters of the coordinate system set the speed during JOG operation.
Item Content Setting range Initial values
Set the low-speed JOG operation of the Long real(LREAL)
XYZ low speed linear axis in the coordinate system It should be less than or equal 1 mm/sec
operation. to XYZ high speed.
Set the low-speed JOG operation of the Long real(LREAL)
ABC low speed rotary axis in the coordinate system It should be less than or equal 1 deg/sec
operation. to ABC high speed.
Set the high-speed JOG operation of the
XYZ high speed linear axis in the coordinate system Long real(LREAL) 5 mm/sec
operation.
Set the high-speed JOG operation of the
ABC high speed rotary axis in the coordinate system Long real(LREAL) 5 deg/sec
operation.

(7) NC Parameter
Set the parameters related to NC control.
- For more details, please refer to Chapter 9 NC control function -9.4 NC parameters.

(8) Cam Data

- Set the CAM profile data for CAM operation.
- For more details, refer to Chapter 8, Motion Control Function -8.2.11 (3) CAM Operation in the Synchronous Control Section.

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Chapter 6 Motion Function Block

6.1 Common Elements of Motion Function Blocks
6.1.1 The state of axis
Each axis in the motion controller is changed to the relevant state depending on the situation and command. The changing
structure of each situation is shown in the figure below.

MC_GearIn (Sub Axis)

MC_GearInPos (Sub Axis)
MC_CamIn (Sub Axis)
Synchronized
MC_MoveAbsolute Motion MC_MoveVelocity
MC_MoveRelative MC_TorqueControl
MC_MoveAdditive MC_MoveContinousAbsolute
MC_Halt MC_MoveContinousRelative
Continuous
Discrete Motion
Motion

MC_Stop

Done Stopping

ErrorStop *1
*6

*4 *3
MC_Home

Homing Done Standstill *5 Disabled *2

*1 ErrorStop:
: in case axis error occurs regardless of the current state of axis
*2 Disabled:
: in case MC_Power.Enable input is Off when axis error does not occur
*3 ErrorStop  Disabled
: in case MC_Reset command has issued when MC_Power.Status output is Off
*4 ErrorStop  Standstill
: in case MC_Reset command has issued when MC_Power.Status output is on and MC_Power.Enable input is On
*5 Disabled  Standstill
: in case of turning On MC_Power.Enable input when MC_Power.Status output is On
*6 Stopping  Standstill
: in case of turning Off MC_Stop.Execute input when MC_Stop.Done output is On

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The state of axis Description

Disabled state indicates the state in which no command is given to a single axis, and no
error occurs.
In case there is no motion controller at the time of first operation, each axis begins in the
disabled state.
Disabled Afterwards, axis status is changed to standstill state in case servo-on status emerges when
(Disabled) Enable input of servo On/Off (MC_Power) motion function block is On.
The axis becomes disabled state when Enable input of serve On/Off (MC_Power) motion
function block is Off in case of not being in ErrorStop state.
In case there is motion function block which is currently being performed, the command is
interrupted. (CommandAborted output of the existing motion function blocks is On.)

No matter which state the current axis is in, it is changed to ErrorStop state when axis error
occurs, and the axis decelerates to stop.
ErrorStop In the state where error occurs, ErrorStop state is maintained even though servo On/Off
(ErrorStop) (MC_Power) motion function block is executed.
The motion axis which is in ErrorStop state maintains stationary state, and any command
except for error reset is not executed.

Standstill When the power of axis is activated, there is no error in the axis and any command is not
(Standstill) made, the axis state indicates StandStill state.

Homing
Homing state indicates the axis is in homing operation.
(Homing)

In case Stop immediately (MC_Stop) function block is executed, the axis state is changed
Stop to stopping state. When the axis is in stopping state, other motion commands cannot be
(Stopping) given to the axis until the Stop is completed (until Done output is activated). If Done output
is On, and Execute input is On, the state is switched to Standstill status.

Continuous Motion It indicates state where operation continues until the current axis becomes operation stop
(Continuous Motion) status.
Discrete Motion
It indicates reduced operating status with target position.
(Discrete Motion)

Synchronized Motion
Synchronized motion indicates axis is in synchronized operation.
Synchronized Motion

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 Chapter 6 Motion Function Block

6.1.2 The State of Group

Each group in motion controller is changed to the relevant state depending on the situation and command. The changing
structure of each situation is shown in the figure below

*1
MC_GroupHalt

GroupMoving MC
_G *2
rou
MC_GroupStop pS
top

Error GroupStopping
GroupHoming Error

Done Error
MC Done
_G p
ro *1 Sto
up up *3 GroupErrorStop
Ho ro
me _G
C
M Error
et
MC_GroupEnable R es *2
ro up
GroupDisabled GroupStandby G
MC_GroupDisable M C_

*6 MC_UngroupAllAxes
MC_RemoveAxisFromFroup
MC_AddAxisToGroup *4 MC_AddAxisToGroup
MC_RemoveAxisFromGroup MC_RemoveAxisFromGroup
MC_UngroupAllAxes *5

*1 GroupMoving
: In case of performing the motion function block of general group operation
*2 GroupStopping, GroupErrorStop
The relevant motion function block is not performed when different motion function block is performed in GroupStopping or
GroupErrorStop state, and when MC_GroupReset function block is performed in GroupErrorStop state, the state of the relevant
group is changed to GroupStandby.
*3  GroupStopping  GroupStandby
When MC_GroupStop.DONE output is On and MC_SroupStop.EXECUTE input is Off
*4  GroupStandby  GroupDisabled
In case there is no axis belonging to the group when performing the axis remove command (MC_RemoveAxisFromGroup,
MC_UnGroupAllAxes)
*5 GroupStandby
In case more than one axis belongs to the group when performing the axis add or remove command in group
(MC_AddAxisToGroup, MC_RemoveAxisFromGroup)
*6 GroupDisabled
When performing MC_GroupDisable or MC_UnGroupAllDisable function block, the relevant group is changed to GroupDisabled
state regardless of its current state.

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 Chapter 6 Motion Function Block

6.1.3 Basic I/O Variable

(1) Edge operation motion function block

Execute

Busy

Active

Done

Error

CommandAborted

(a) (b) (c) (a) (d) (e) (a) (f) (g) (a) (h)

Variable Description
This is an input to run the relevant function block in Edge operation (OffOn) function
Execute
block. (Figure a state)
This is an output to indicate the relevant motion function block is currently running ((= not
completed), and it indicates the output of motion function block can be changed.
Busy Busy output is On in the rising Edge of Execute input (Figure a state), and it is Off when
Done output is On (Figure b state), CommandAborted output is On (Figure d state), or
Error output is On (Figure f state).
This indicates the relevant motion function block is actually controlling axis.
When running many motion function block to one axis (in case only one motion function
Active block is controlling and other notion function blocks are Buffered), Active output is On in
only one motion function block which is controlling, and in motion function blocks which
are Buffered, Busy output is On.
This is an output to indicate operation of the relevant motion function block has been
successfully completed.
Done If Done output is On, Busy and Active output is Off. (Figure d state)
Done output is Off when Execute input is Off (Figure e state), if Execute output was Off
when Done output became On, it remains On only during 1 scan (Figure h state).
This is an output to indicate an error occurs while running motion function block.
Error Error output is Off when Execute input is Off (Figure f state). If Execute output was Off
when Error output became On, it remains On only during 1 scan (Figure h state).
This outputs error code regarding the relevant error when an error occurs while running
ErrorID
motion function block. ErrorID output and elimination time are same with Error output.
This indicates the relevant motion function block is interrupted by the other motion function
block. CommandAborted output is Off when Execute input is Off (Figure g state). If
CommandAborted
Execute output was Off when Done output became On, it remains On only during one
scan.

※ When Execute input is On in Edge operation (Execute input) motion function block, depending on the state of

axis, one output in Busy, Done, Error, and CommandAborted output is On. Busy, Done, Error, and
CommandAborted output are available to be On one at a time, and if one output in four is On, other three outputs
become Off.

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 Chapter 6 Motion Function Block

(2) Motion function block for level motion

Enable

Busy

Vaild

Error

(a) (b) (c) (d) (e) (f) (g)

Variable Description
This runs motion function block in the rising Edge (Figure a state), and stops it in the falling Edge
Enable
(Figure b state). In other words, it is executed when the Enable input is a level action.
This is an output to indicate the relevant motion function block is currently running ((= not completed),
and it indicates the output of motion function block can be changed.
Busy
Busy output is On in the rising Edge of Enable input (Figure b state), and it remains on while motion
function is in operation.
This is an output to indicate the relevant motion function block is successfully performed and output
Valid & motion are valid.
Valid output is Off when Enable input is Off (Figure b state).
This is an output to indicate an error occurs while running motion function block.
If an error which cannot be automatically restored occurs while motion function block is in operation,
Error output is On, Busy & Valid output is Off (Figure d state), and motion function block stops
operating.
Error Error output is Off when Enable input is Off (Figure e state).
If an error which can be automatically restored occurs while function block is in operation, Error output
is On and Valid input is Off (Figure f state).
When the error in the relevant motion function block is restored, Error output is Off, and operation is
resumed (Figure g state).
This outputs error code regarding the relevant error when an error occurs while running motion
ErrorID function block.
ErrorID output and elimination time are same with Error output.

※Valid and Error outputs are not On at the same time.

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 Chapter 6 Motion Function Block

Notes
1. Axis inputnote1)
Each motion function block can be specified by Axis input to the axis which is subject to the relevant command. Motion
controller can control 1~32 real/virtual axes and 33~36 virtual axes, and 1001~1002 encoders can be used as main axis
depending on motion function block. Therefore, values of 1~32, 33~36, and 1001~1002 can be input in Axis input depending
on motion function block. When it is out of the range which is available to set in each motion function block, "error 0x0006”
occurs.
2. Jerk
Jerk sets the amount of change of acceleration/deceleration. If Jerk is set to a non-zero value, the speed profile becomes S-
shaped, which can reduce the impact of the machine during acceleration / deceleration. If Jerk value is set larger, acceleration
/ deceleration is performed close to the straight line. If Jerk value is set to 0, acceleration / deceleration operation speed profile
becomes linear.

speed speed

Acc/Dec. Section is linear Acc/Dec. Section is Sin Curve

Time Time
< Jerk = 0 > < Jerk Acceleration / Deceleration >

Note 1) Explain the range to set axis input variables on the basis of XMC-E32A.

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 Chapter 6 Motion Function Block

6.1.4 BufferMode input

This is an input which can specify whether to wait until the existing command is completed or to cancel the existing motion
function block and execute the command in case the axis is already running other motion function block when running motion
function block in a certain axis. The number between 0-5 can be specified, and if it is out of the range, "error 0x101A” occurs in
the axis command and "error 0x201A” occurs in the axis group command. The values which are available to be set in BufferMode
are as below.
No. Buffer mode Description
0 Aborting Execute the command immediately. The existing command in operation is interrupted.
1 Buffered It executes commands after the completion of the existing command in operation.
It conducts a combination operation that helps blend into side with lower velocity by
2 BlendingLow
comparing the velocity of the existing command and the command to make.
It conducts a combination operation that makes the combination with velocity of the existing
3 BlendingPrevious
commands.
It conducts a combination operation that makes the combination with velocity of commands
4 BlendingNext
to make.
It conducts a combination operation that helps blend into side with priority velocity by
5 BlendingHigh
comparing the velocity of the existing command and the command to make.

Notes
The maximum number of commands that can wait for their execution in buffers on axis control is 100. An error (error code:
0x1022) occurs when executing more than 100 commands in a buffer mode.

6.1.5 Changes in Parameters during Execution of Motion Function Block

The parameter of the relevant command can be changed at the time motion function block is running, and the detailed operations
are as below.

- When executing Edge operation motion function block in the Off state of ContinuousUpdate input (turn On the Execute input),
the relevant motion function block is operated by application of the parameter at the time when Execute input was On (rising
Edge). In this case, the change of the parameter input value in the middle of execution of motion function block does not affect
operation.
When wanting to change the parameter while the relevant motion function block is in operation, change the parameter and turn
On Execute input again.
- When executing Edge operation motion function block in the On state of ContinuousUpdate input (turn On the Execute input),
the parameter of the time when Execute input was On (rising Edge) is applied at first.
When changing the parameter while ContinuousUpdate input is On, the relevant motion function block operates reflecting the
every change in parameter.
But, if you change the parameter at the completion or after the stop of the operation of the relevant motion function block (Busy
output is Off), the change is not reflected any more. (Parameter changing operation using ContinuousUpdate does not rerun the
motion function block which is completed or interrupted, In other words, ContinuousUpdate operation is applied only to the
motion function block which is currently running.)
- For a function block without ContinuousUpdate input, the changed parameters can be applied by re-executing the function block
(Execute input is On) before the command is completed.
- As for level operation motion function block, it is operated by the application of the parameter at the time when Enable input was
On (rising Edge), and continuous change of parameter is available while Enable input is On.

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 Chapter 6 Motion Function Block

6.1.6 Group Operation Route Change Settings

When the axis group of the current motion controller is executing a command, other command can be issued to the relevant
axis group. At this point, the path, which the next command will achieve, can specify how the existing command will be connected
to the existing path. The parameter of connection track is specified in TransitionParameter input.

No. Transition Mode Description

0 TMNone Do not generate a connection track.
Generate a connection track which specifies the corner distance of a connection
3 TMCornerDistance
track and draws circular arcs at the specified corner distance.

Notes
The maximum number of buffers that can wait for execution on axis group control is 100. An error (error code: 0x2022) occurs
when executing more than 100 commands in a buffer mode.

 TransitionMode “TMNone”
Do not generate a connection track.
The Figure below shows the case when running BufferMode of motion function block in the setting of ‘Aborting’. The
Figure in the left shows that motion function block ② is executed in the setting of ‘Aborting’ while motion function block ①
is running. Motion function block ① is forced to be terminated at 'end point ① / starting point ②' without reaching 'end
point ①'. The Figure in the right shows that the next motion function block is executed at the moment of the execution of
‘Aborting’ function block.

<In case BufferMode is specified as “Aborting”>

The Figure below shows that the case when running BufferMode of motion function block in the setting of ‘Buffered’. The
Figure in the left shows that motion function block ② is executed in the setting of 'Buffered’ while motion function block ①
is running. Motion function block ② is executed after motion function block ① has reached target position. The Figure in
the right shows that when ‘Buffered’ function block is executed, the next motion function block is executed after it reaches
original target position.

<In case BufferMode is specified as “BufferMode”>

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 Chapter 6 Motion Function Block

The Figure below shows the case when running BufferMode of motion function block in the setting of ‘BlendingXXXX’. The Figure in
the left shows that motion function block ② is executed in the setting of ‘BlendingXXXX’ while motion function block ① is running.
Accelerates/decelerates from the target position of motion function block ① to the speed set in motion function block ②
(Low, Previous, Next, High) and performs continuous operation. If you look at the figure on the right, when the ‘BlendingXXXX’
function block is executed, the next motion function block is executed at the speed (Low, Previous, Next, High) set in ‘BlendingXXXX’ after
reaching the original target position.

“Blending“ Function block

②End point
execution
Speed
①End point/②Starting
point position
“Blending“ Function block
execution
① Starting
point
①End point/ Time
②Starting point

<In case BufferMode is specified as “BlendingXXXX”>

 TransitionMode “TMCornerDistance”
The radius of a connection track is specified and the connection track which draws a circle having specified radius is output.
This mode is operated only when BufferMode is “BlendingXXXX”, and it is operated in “TMNone” when BufferMode is
“Aborting” or “Buffered”.
When drawing a connection track, the maximum speed of the path complies with the specified speed in BufferMode, and
the length of radius complies with the value specified in TransitionParameter.

The Figure below shows the generation of a connection track which draws radius circle in two linear interpolation commands.
The Figure in the left shows that motion function block ② is executed in the setting of “TMcornerDistance” while motion function
block ① is running. The original target position of motion function block ① was end point ① / starting point ②, but straight-
line motion is stopped and circular motion is started at the point ahead as far as radius 'd' (end point ①). Circular operation
starts at end point ① and finishes at starting point ②, and executes motion function block ②.
The Figure in the right shows that the speed does not stop in the middle of two function blocks and continues.

<In case BufferMode is specified as “BlendingLow” and TransitionMode is specified as “TMCornerDistance”>

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 Chapter 6 Motion Function Block

6.1.7 Motion Function Block Errors

Errors occurring in ErrorID variable of motion function block are as follows.

STAT Content Description

In case motion function block is normally executed, “O” is displayed on
0x0000 Normal
ErrorID.
The motion function block is not executed in the version of current motion
The current motion controller does not
0x0005 controller. Check the version in which the motion function block can be
support the motion function block.
executed.
Axis number of motion function block
(Axis input) or encoder number
0x0006 Set axis and encoder numbers with a range by product.
(Encoder input) exceeded allowable
range.
Axis group number of motion function
0x0007 block (AxesGroup input) exceeded Set axis group number to a value between 1 and 16.
allowable range.
NC channel of function block exceeded
0x0008 Check the range of NC channel, and set again.
allowable range.
Slave number of function block (Slave
0x0009 Check the range of slave number, and set again.
input) exceeded allowable range.
Input of function block exceeded
0x000B Check the input range of function block, and set again.
allowable range.
Array input of function block exceeded
0x000C Check the array input size of function block, and set again.
allowable range.
Internal execution error of motion
Check the version of XG5000 and XMC-E32A.
0x0012 function block occurred during the
Please check the supported version of XG5000 and controller.
execution of the motion function block.
Motion response error occurred during Check the version of XG5000 and XMC-E32A.
0x0013
the execution of motion function block. Please check the supported version of XG5000 and controller.
CAM ID (CamTableID input) of function
0x0014 Check the CAM ID range of function block, and set again.
block exceeded allowable range.
0x0E00
It indicates a common error of the motion controller.
:
For more details, refer to ‘error information and measures in APPENDIX 2’.
0x0FFF
0x1000
It indicates error that occurs in relation to axis control of motion controller.
:
For more details, refer to ‘error information and measures in APPENDIX 2’.
0x1FFF
0x2000
It indicates error that occurs in relation to axis control of motion controller.
:
For more details, refer to ‘error information and measures in APPENDIX 2’.
0x2FFF
0x3000
It indicates error that occurs in relation to NC control of motion controller.
:
For more details, refer to ‘error information and measures in APPENDIX 2‘.
0x3FFF

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 Chapter 6 Motion Function Block

6.2 Motion Function Block

Operation Module O/S XG5000

NO. Name Detailed description
condition
Single-axis command
1 MC_Power Servo On/Off Level V1.0 V4.20
2 MC_Home Return to Origin Point Edge V1.0 V4.20
3 MC_Stop Prompt stop Edge V1.0 V4.20
4 MC_Halt Stop Edge V1.0 V4.20
5 MC_MoveAbsolute Absolute positioning operation Edge V1.0 V4.20
6 MC_MoveRelative Relative positioning operation Edge V1.0 V4.20
7 MC_MoveAdditive Additive positioning operation Edge V1.0 V4.20
8 MC_MoveVelocity Specified velocity operation Edge V1.0 V4.20
Specified velocity operation after V1.0 V4.20
9 MC_MoveContinuousAbsolute Edge
Absolute position operation
Specified velocity operation after V1.0 V4.20
10 MC_MoveContinuousRelative Edge
Relative position operation
11 MC_TorqueControl Torque control Edge V1.0 V4.20
12 MC_SetPosition Setting the current position Edge V1.0 V4.20
13 MC_SetOverride Velocity/Acceleration override Level V1.0 V4.20
14 MC_ReadParameter Parameter Read Level V1.0 V4.20
15 MC_WriteParameter Parameter write Edge V1.0 V4.20
16 MC_Reset Reset axis error Edge V1.0 V4.20
17 MC_TouchProbe Touch probe Edge V1.0 V4.20
18 MC_AbortTrigger Abort trigger events Edge V1.0 V4.20
19 MC_MoveSuperImposed SuperImposed Operation Edge V1.0 V4.20
20 MC_HaltSuperImposed SuperImposed operation halt Edge V1.0 V4.20
21 LS_Home Expansion homing Edge V2.0 V4.70
22 MC_Reset2 Reset axis error 2 Edge V2.0 V4.70
23 MC_ReadMotionInfo Read Motion Information Level V2.0 V4.70
24 MC_ReadActual Read Current Position Level V2.0 V4.70
25 MC_ReadActual Read Current Velocity Level V2.0 V4.70
26 MC_ReadActual Read Current Torque Level V2.0 V4.70
27 MC_ReadCommanded R Level V2.0 V4.70
28 MC_ReadCommanded Read Command Speed Level V2.0 V4.70
29 MC_ReadCommanded Read Command Torque Level V2.0 V4.70
Multi-axis command
30 MC_CamIn Cam Operation Edge V1.0 V4.20
31 MC_CamOut Camming stop Edge V1.0 V4.20
32 MC_GearIn Electrical gearing run Edge V1.0 V4.20
33 MC_GearOut Electrical gearing disengage Edge V1.0 V4.20
Electrical gearing by specifying the V1.0 V4.20
34 MC_GearInPos Edge
position
35 MC_Phasing Phase compensation Edge V1.0 V4.20
36 MC_PowerAll Total axis servo On/Off Level V2.0 V4.70
37 MC_HomeAll Total axis homing Edge V2.0 V4.70

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 Chapter 6 Motion Function Block

Operation Module O/S XG5000

NO. Name Detailed description
condition
38 LS_HomeAll Total axis expansion homing Edge V2.0 V4.70
39 MC_StopAll Total axis prompt Stop Edge V2.0 V4.70
40 MC_HaltAll Total axis Stop Edge V2.0 V4.70
41 MC_Reset2All Reset all axis error 2 Edge V2.0 V4.70
42 MC_SetPositionAll Setting all axis current position Edge V2.0 V4.70
43 MC_GearInEx Expanded electronic gear operation Edge V2.0 V4.70
Expanded position specified V2.0 V4.70
44 MC_GearInPosEx Edge
electronic gear operation
Group command
45 MC_AddAxisToGroup Adds one axis to the group Edge V1.0 V4.20
46 MC_RemoveAxisFromGroup Removes one axis from the group Edge V1.0 V4.20
47 MC_UngroupAllAxes Removes all axes from the group Edge V1.0 V4.20
48 MC_GroupEnable Group Enable Edge V1.0 V4.20
49 MC_GroupDisable Group Disable Edge V1.0 V4.20
Performs the search home of all axes V1.0 V4.20
50 MC_GroupHome Edge
in the group
Sets the position of all axes in the V1.0 V4.20
51 MC_GroupSetPosition Edge
group without moving
52 MC_GroupStop Stop the group immediately Edge V1.0 V4.20
53 MC_GroupHalt Stop the group Edge V1.0 V4.20
54 MC_GroupReset Reset the group error Edge V1.0 V4.20
Absolute positioning linear V1.0 V4.20
55 MC_MoveLinearAbsolute Edge
interpolation operation
Relative positioning linear V1.0 V4.20
56 MC_MoveLinearRelative Edge
interpolation operation
Absolute position circular interpolation V1.0 V4.20
57 MC_MoveCircularAbsolute Edge
operation
Relative position circular interpolation V1.0 V4.20
58 MC_MoveCircularRelative Edge
operation
59 MC_GroupPower Group Servo On/Off Level V2.0 V4.70
60 LS_ReadGroupParameter Read axis group parameter Level V2.0 V4.70
61 LS_WriteGroupParameter Write axis group parameter Edge V2.0 V4.70
Axis group velocity/acceleration V2.0 V4.70
62 MC_GroupSetOverride Level
override
LS command
63 LS_Connect Connect servo drives Edge V1.0 V4.20
64 LS_Disconnect Disconnect servo drives Edge V1.0 V4.20
65 LS_ReadSDO Read slave SDO data Edge V1.0 V4.20
66 LS_WriteSDO Write slave SDO data Edge V1.0 V4.20
67 LS_SaveSDO Save slave SDO data Edge V1.0 V4.20
68 LS_ReadSDO2 Read slave SDO data(timeout) Edge V2.0 V4.60
69 LS_WriteSDO2 Write slave SDO data(timeout) Edge V2.0 V4.60
70 LS_EncoderPreset Setting Encoder current position Edge V1.0 V4.20
71 LS_Jog Jog Operation Level V1.0 V4.20
72 LS_ReadCamData Read Cam data Edge V1.0 V4.20
73 LS_WriteCamData Write CAM data Edge V1.0 V4.20

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 Chapter 6 Motion Function Block

Operation Module O/S XG5000

NO. Name Detailed description
condition
74 LS_WriteCamBlockProperty CAM block property write Edge V2.0 V4.60
75 LS_ReadCamBlockProperty CAM block property read Edge V2.0 V4.60
76 LS_WriteCamBlockNode CAM block node write Edge V2.0 V4.60
77 LS_ReadCamBlockNode CAM block node read Edge V2.0 V4.60
78 LS_GenerateCamData CAM data generation Edge V2.0 V4.60
79 LS_ReadEsc Read from ESC Edge V1.0 V4.20
80 LS_WriteEsc Write to ESC Edge V1.0 V4.20
81 LS_CamSkip Skip CAM Edge V1.0 V4.20
82 LS_VarCamIn Variable CAM operation Edge V1.0 V4.20
83 LS_VarGearIn Variable gear operation Edge V1.0 V4.20
84 LS_VarGearInPos Variable positioning gear operation Edge V1.0 V4.20
Read the slave location of the CAM V1.0 V4.20
85 LS_ReadCamTableSlavePos Edge
table
86 LS_InverterWriteVel Write inverter speed Edge V1.0 V4.20
87 LS_InverterReadVel Read inverter speed Level V1.0 V4.20
88 LS_InverterControl Write inverter control word Edge V1.0 V4.20
89 LS_InverterStatus1 Read inverter status 1 Level V1.0 V4.20
90 LS_InverterStatus2 Read inverter status 2 Level V1.0 V4.20
91 LS_SyncMoveVelocity Speed control operation (csv mode) Edge V1.0 V4.20
92 LS_ReadCamTableMasterPos Read CAM table master position Edge V1.1 V4.23
93 LS_OnOffCam On/off CAM operation Edge V1.1 V4.23
94 LS_RotaryKnifeCamGen RotaryKnife cam profile generation Edge V1.1 V4.23
95 LS_CrossSealCamGen Cross sealer cam profile generation Edge V1.2 V4.25
96 LS_OnOffCamEx Expanded on/off CAM operation Edge V1.4 V4.28
97 LS_VarGearInEx Expansion Variable gear operation Edge V2.0 V4.60
Expansion Variable positioning gear V2.0 V4.60
98 LS_VarGearInPosEx Edge
operation
Coordinate system command
99 MC_SetKinTransform Machine Information Setting Edge V1.0 V4.20
100 MC_SetCartesianTransform PCS Setting Edge V1.0 V4.20
101 LS_SetWorkSpace Work space setting Edge V1.0 V4.20
102 Linear Interpolation Operation for V1.0 V4.31
LS_MoveLinearAbsolute Absolute Position of Coordinate Edge
System
103 linear interpolation operation for V1.0 V4.31
LS_MoveLinearRelative Edge
relative position of coordinate system
104 linear interpolation operation for V1.0 V4.20
LS_MoveLinearTimeAbsolute absolute position of coordinate Edge
system
105 linear interpolation operation for V1.0 V4.20
LS_MoveLinearTimeRelative Edge
relative position of coordinate system
106 Circular interpolation operation for V1.0 V4.20
MC_MoveCircularAbsolute2D absolute position of coordinate Edge
system
107 Circular interpolation operation for V1.0 V4.20
MC_MoveCircularRelative2D Edge
relative position of coordinate system

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 Chapter 6 Motion Function Block

Operation Module O/S XG5000

NO. Name Detailed description
condition
108 Synchronization setting of the V1.0 V4.20
MC_TrackConveyorBelt Edge
conveyor belt
109 Synchronization setting of the rotary V1.0 V4.20
MC_TrackRotaryTable Edge
table
110 JOG operation of the coordinate V1.0 V4.20
LS_RobotJog Level
system
111 LS_SetMovePath Set path operation data Edge V1.0 V4.20
112 LS_ResetMovePath Delete path operation data Edge V1.0 V4.20
113 LS_GetMovePath Read path operation data Edge V1.0 V4.20
114 LS_RunMovePath Perform path operation Edge V1.0 V4.20
115 Arc Interpolation Operation for V2.0 V4.60
MC_MoverCircularAbsolute3D Absolute Position of Coordinate Edge
System
116 Arc Interpolation Operation for V2.0 V4.60
MC_MoveCircuularRelavive3D Relative Position of Coordinate Edge
System
117 LS_ForwardKIn Forward Kinematic operation Edge V2.0 V4.60
118 LS_InverseKin Reverse Kinematic operation Edge V2.0 V4.60
NC control command
119 NC_LoadProgram Specify NC program Edge V1.0 V4.20
120 Specify Single/Optional block V1.0 V4.20
NC_BlockControl Level
operation
121 NC_Reset NC reset Edge V1.0 V4.20
122 NC_Emergency Emergency stop Level V1.0 V4.20
123 NC_CycleStart Start automatic operation Edge V1.0 V4.20
124 NC_FeedHold Feed Hold Level V1.0 V4.20
125 NC_Home Homing Edge V1.0 V4.20
126 NC_RapidTraverseOverride Rapid traverse override Level V1.0 V4.20
127 NC_CuttingFeedOverride Cutting feed override Level V1.0 V4.20
128 NC_SpindleOverride Spindle override Level V1.0 V4.20
129 NC_McodeComplete M Code operation completed Edge V1.0 V4.20
130 NC_ScodeComplete S Code operation completed Edge V1.0 V4.20
131 NC_TcodeComplete T Code operation completed Edge V1.0 V4.20
132 NC_ReadParameter Read NC parameters Level V1.0 V4.20
133 NC_WriteParameter Write NC parameters Edge V1.0 V4.20
134 NC_RetraceMove Reverse operation Level V1.3 V4.28
135 NC_BlockSkip Block skip Level V1.3 V4.28
136 NC_DryRun Dry run operation Level V1.3 V4.28
137 NC_ToolMode Tool retract/recover operation Edge V1.3 V4.28
138 NC_ReadToolMode Read tool retract/recover modes Level V1.3 V4.28
139 NC_MirrorImage Mirror image Level V1.3 V4.28
140 NC_SpindleControl Spindle operation control Level V1.3 V4.28
141 NC_BlockOptionalSkip NC optional block skip Edge V1.3 V4.28
Manual measurement of NC V1.3 V4.28
142 NC_ManualToolComp Edge
compensation value
143 NC_ChgSpindleGear NC spindle gear change Edge V1.3 V4.28

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 Chapter 6 Motion Function Block

Operation Module O/S XG5000

NO. Name Detailed description
condition
144 NC_ExpoerProgram NC program Export Edge V2.0 V4.70
145 NC_ImportProgram NC program Import Edge V2.0 V4.70
File command
146 FILE_OPEN Open files in SD memory cards Edge V1.4 V4.28
147 FILE_CLOSE Close files in SD memory cards Edge V1.4 V4.28
148 FILE_WRITE Write files in SD memory cards Edge V1.4 V4.28
149 FILE_READ Read files in SD memory cards Edge V1.4 V4.28
Move positions to access in SD V1.4 V4.28
150 FILE_SEEK Edge
memory cards
Communication command
External TCP Server connection V2.0 V4.70
151 SOCKET_TCPLISTEN Edge
ready
External TCP Server connection V2.0 V4.70
152 SOCKET_TCPACCEPT Edge
accept
153 SOCKET_TCPCONNECT TCP Client connection Edge V2.0 V4.70
154 SOCKET_TCPRECV TCP socket data receive Edge V2.0 V4.70
155 SOCKET_TCPSEND TCP socket data send Edge V2.0 V4.70
156 SOCKET_UDPCREATE UDP socket create request Edge V2.0 V4.70
157 SOCKET_UDPRECV UDP socket data receive Edge V2.0 V4.70
158 SOCKET_UDPSEND UDP socket data send Edge V2.0 V4.70
Information for each channel of socket V2.0 V4.70
159 SOCKET_SVCINFO Edge
service
160 SOCKET_BUFCLEAR Socket Service Buffer Initialization Edge V2.0 V4.70
161 SOCKET_CLOSE Socket service channel close Edge V2.0 V4.70
162 L_NET_INFO Local Ethernet information read Edge V2.0 V4.70
163 SET_IP Local Ethernet setting Edge V2.0 V4.70
Other command
164 PID PID calculation Level V1.0 V4.20
165 LINAC LINAC Level V1.0 V4.20
166 SLINAC SLINAC Level V1.0 V4.20

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 Chapter 6 Motion Function Block

6.2 Motion Function Block

6.2.1 Setting Range by Product
Important
(1) The motion function block names of XMC-E32A, XMC-E16A, XMC-E08A and XMC-E32C are all identical. This
‘Chapter 06 Function Block’ basically describes XMC-E32A.
(2) The motion function block of XMC-E32A and XMC-E32C has an identical setting range of input variables and the
motion function block of XMC-E32A, XMC-E16A and XMC-E08A has a different setting range of input variables that set
IDs of axes, slaves and CAM tables.
(a) Setting range of input variables that set axes
Input XMC-E32A/XMC-E32C XMC-E16A XMC-E08A
variable
Axis 1~32: Real/Virtual Axes, 1~16: Real/Virtual Axes, 1~8: Real/Virtual Axes,
33~36: Virtual Axes 17~18: Virtual Axes 9: Virtual Axes
Master 1~32: Real/Virtual Axes, 1~16: Real/Virtual Axes, 1~8: Real/Virtual Axes,
33~36: Virtual Axes, 17~18: Virtual Axes, 9: Virtual Axes,
1001~ 2: Encoder 1001~ 1002: Encoder 1001~ 1002: Encoder
Slave*Note 1) 1~32: Real/Virtual Axes, 1~16: Real/Virtual Axes, 1~8: Real/Virtual Axes,
33~36: Virtual Axes 17~18: Virtual Axes 9: Virtual Axes
(b) Setting range of input variables that set slaves
Input XMC-E32A/XMC-E32C XMC-E16A XMC-E08A
variable
Slave*Note 2) 1~ 64: Slave 1~ 32: Slave 1~ 16: Slave
(c) Setting range of input variables of the CAM table ID
Input XMC-E32A/XMC-E32C XMC-E16A XMC-E08A
variable
CamTableID 1~32: CAM table number 1~16: CAM table number 1~8: CAM table number

Note 1) An input variable of the function block (MC_CAMIN, etc.) that sets operation of axes.
Note 2) An input variable of the function blocks (LS_ReadSDO, LS_WriteSDO, LS_SaveSDO) that sets operation of
slaves.

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 Chapter 6 Motion Function Block

6.3 Single-Axis Motion Function Block

6.3.1 Servo On/Off (MC_Power)

Motion Function Block

MC_Power
BOOL Enable Status BOOL
UINT Axis Axis UINT
Vaild BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable Servo motor of the relevant axis is servo On while input is activated.
Output
BOOL Status Indicate the power permission status of the relevant axis.
Indicate the validity of motion function block output.
BOOL Valid
(same with Status output here)
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give servo On/Off command to the relevant axis.
(2) When enable input changes from Off to On, the Servo On command is given to the relevant axis. When it changes from On to
Off, the Servo Off command is given to it.
(3) If servo On command is executed when the axis is in 'Disable' state, the axis state is 'StandStill', and failure in servo On brings
'ErrorStop' state.

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 Chapter 6 Motion Function Block

6.3.2 Perform the search home (MC_Home)

Motion Function Block

MC_Home
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Position Busy BOOL
UINT BufferMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Start the homing operation in rising Edge.
Specify the absolute position of axis when reference signal is detected. (When the
LREAL Position command position value is converted to a pulse, it is set within the range of -
2147483648 to 2147483647.)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode )
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a homing command to the relevant axis.
(2) Homing method is operated as specified in the operation parameter of the relevant axis in advance.
(3) As for Position input, absolute position of axis is specified when Reference Signal is detected or homing is completed.
(4) While this motion function block is running, the axis is 'Homing' state, and when the command is completed, it is switched to
'Standstill'.
(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are applied.
Only Position input can be updated.

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 Chapter 6 Motion Function Block

(6) Example Program

This example shows execution of MC_HOME command when the current command position is 100,000.
(a) Function block setting

(b) Parameter Settings

- Set the Homing method in SDO parameters to 33.

(c) Timing diagram

%MX1

MC_HOME.Busy

MC_HOME.Active

MC_HOME.Done

_AXxx_HOME(%JXxx.55)

Position

Speed

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 Chapter 6 Motion Function Block

6.3.3 Stop immediately (MC_Stop)

Motion Function Block

MC_Stop
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Deceleration Busy BOOL
LREAL Jerk CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Give immediate stop command to the relevant axis in the rising Edge.
LREAL Deceleration Specify the deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Output
BOOL Done Indicate that the speed of the relevant axis reaches 0.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a emergency stop command to the relevant axis.
(2) When executing immediate stop (MC_Stop) motion function block, the existing motion function block being executed in the
relevant axis is stopped, and the axis state changed to 'Stopping'. When the relevant axis is in 'Stopping’ state, other motion function
block cannot be executed in the relevant axis until the stopping is completed (until the Done output is activated).
(3) CommandAborted output indicates that the current motion function block is interrupted while it was executed. Other motion
function block cannot interrupt immediate stop (MC_Stop) motion function block while immediate stop (MC_Stop) motion function
block is running, therefore, CommandAborted output is On in general when the power of servo is blocked or servo Off command
is executed.
(4) If Execute input is On or the speed of axis is not 0, the axis is in 'Stopping' state, and when Done output is On and Execute input
is Off, it is switched to 'Standstill' state.
(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Deceleration and Jerk input can be updated
(6) When executing Stop immediately of motion function block during homing, 0x6040.4 Homing Bit is turned Off and 0x6040.8
Halt Bit On to immediately stop the axis. The axis stop according to homing bit and halt bit refer to the user manual of each
servo drive. For example, The LS servo drive stops depending on Quick stop deceleration when homing bit is off during homing.

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 Chapter 6 Motion Function Block

6.3.4 Stop (MC_Halt)

Motion Function Block

MC_Halt
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Deceleration Busy BOOL
LREAL Jerk Active BOOL
UINT BufferMode CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Give stop command to the relevant axis in the rising Edge.
LREAL Deceleration Specify deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode )
Output
BOOL Done Indicate that the speed of the relevant axis reaches 0.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a stop command to the relevant axis.
(2) The axis is 'DiscreteMotion' state while this motion function block is running, and when the speed of the relevant axis is 0, ‘Done’
output is On and changed to 'Standstill' state.
(3) BufferMode can be selected, unlike MC_Stop command. Halt command (MC_Halt) can be stopped by another motion function
block.
(4) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Deceleration, Jerk input can be updated.

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 Chapter 6 Motion Function Block

6.3.5 Absolute positioning operation (MC_MoveAbsolute)

Motion Function Block

MC_MoveAbsolute
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Position Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT Direction
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
edge
Specify the update setting of input value.
BOOL ContinuousUpdate (Refer to 6.1.5.Changes in Parameters during Execution of Motion Function
Block).
LREAL Position Specify the target position.
LREAL Velocity Specify the maximum speed. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the operation direction.
UINT Direction (0~4: 0-Not specified, 1-Forward direction, 2-Shortest distance, 3-Reverse
direction, 4-Current direction)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode)
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give the relevant absolute position operation commands.
(2) Set the operation direction of the axis in infinite length repetition operation in Direction input, and if infinite length repetition
operation is set to Prohibited, Direction input is ignored. When Direction input is the shortest distance (=2), the relevant axis doing
Infinite length repetition operation automatically selects the direction which allows the shortest distance. The available range is 0-
4 (0-Not specified, 1-Forward direction, 2-Shortest distance, 3-Reverse direction, 4-Current direction), and "error 0x1017” occurs
in case of excess of the range.
(3) On condition that there is no motion function block is on standby after the current motion function block, If the speed is 0 after

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 Chapter 6 Motion Function Block

reaching the target point, operation is completed and Done output is On.
(4) The axis is in 'DiscreteMotion' state while this motion function block is running, and it is switched to 'Standstill' state when operation
is completed.
(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Position, Velocity, Acceleration, Deceleration, Jerk, Direction input can be updated.
(6) Velocity input can be set to 0 or changed.
(7) During the deceleration operation, even if the Velocity and Acceleration inputs are changed by using the ContinuousUpdate
function or the command re-execution function, the deceleration operation is not affected and the previous deceleration
operation continues.
(8) Example program
This example shows the movement from the current command position of 50,000,000 to the 100,000,000 position.
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

(9) Application example program

This example shows the execution of another function block with BufferMode set to 1 while moving from the current command
position of 50,000,000 to the 100,000,000 position, to move to the -100,000,000 position.
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

6.3.6 Relative positioning operation (MC_MoveRelative)

Motion Function Block

MC_MoveRelative
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
edge
Specify the update setting of input value.
BOOL ContinuousUpdate
Reference
LREAL Distance Specify the target distance.
LREAL Velocity Specify the maximum speed. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode )
Output
BOOL Done Indicate whether to reach the specified distance.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) Output the number of error occurred while motion function block is running.
(2) Relative position motion (MC_MoveRelative) is the motion function block which moves as far as the target distance specified in
Distance input from the current position.
(3) Moving direction is decided depending on the sign of the target distance specified in Distance input, and positive (+ or No sign)
moving direction leads to the forward direction, and negative (-) moving direction leads to the reverse direction.
(4) If there is no motion function block is on standby after the current motion function block and the speed is 0 after moving to the target
distance, operation is completed and Done output is On.
(5) The axis is in "DiscreteMotion" state when this motion function block is running, and it is switched to "StandStill" state when
operation is completed.
(6) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are applied.
Only Distance, Velocity, Acceleration, Deceleration, Jerk input can be updated.

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 Chapter 6 Motion Function Block

(7) Velocity input can be set to 0 or changed.

(8) During the deceleration operation, even if the Velocity and Acceleration inputs are changed by using the ContinuousUpdate
function or the command re-execution function, the deceleration operation is not affected and the previous deceleration operation
continues.
(9) Example program
This example shows the movement from the current command position of 50,000,000 to the 150,000,000 position by moving
the distance corresponding to the set value (100,000,000).
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

(10) Application example program

This example shows the execution of another function block with BufferMode set to 1 while moving from the current command
position of 50,000,000 to the 150,000,000 position, to move to the 50,000,000 position.
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

6.3.7 Additive positioning operation (MC_MoveAdditive)

Motion Function Block

MC_MoveAdditive
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate
Reference
LREAL Distance Specify the target distance.
LREAL Velocity Specify the maximum speed. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode )
Output
BOOL Done Indicate whether to reach the specified distance.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give the relevant additive position operation commands.
(2) Additive position motion (MC_MoveAdditive) is the motion function block which additionally moves as far as the position specified
in Distance input from the final target position of the currently running motion function block or the latest motion function block
executed in 'DiscreteMotion' state. If the current axis is executing motion function block ‘ContinuousMotion’ state, it executes
operation based on the position where additive position motion (MC_MoveAdditve) is executing.
(3) The direction of the movement is determined by the positivity/negativity of the set distance. Positive distance (+ or no sign) means
forward movement, and negative distance (-) means reverse movement.
(4) When reaching the target position without motion function block on standby after the current motion function block, 'Done' output
is On.
(5) The axis is in 'DiscreteMotion' state while this motion function block is running, and it is switched to 'Standstill' state when operation
is completed.

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 Chapter 6 Motion Function Block

(6) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are applied.
Only Distance, Velocity, Acceleration, Deceleration, Jerk input can be updated.
(7) Velocity input can be set to 0 or changed.
(8) During the deceleration operation, even if the Velocity and Acceleration inputs are changed by using the ContinuousUpdate
function or the command re-execution function, the deceleration operation is not affected and the previous deceleration
operation continues.
(9) Example program
This example shows the movement from the current command position of 50,000,000 to the 150,000,000 position by moving
the distance corresponding to the set value (100,000,000).
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

(10) Application example program

This example shows the execution of MC_MOVEADDITIVE function block while moving from current command position of 0
to the 50,000,000 position, to move an additional 100,000,000 to the 150,000,000 position.

(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

6.3.8 Specified velocity operation (MC_MoveVelocity)

Motion Function Block

MC_MoveVelocity
BOOL Execute InVelocity BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
UINT Direction
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
edge
Specify the update setting of input value.
BOOL ContinuousUpdate (Refer to 6.1.5.Changes in Parameters during Execution of Motion Function
Block)
LREAL Velocity Specify the operation speed. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the operation direction. (1 ~ 3 : 1-Forward direction, 2-Reverse direction,
UINT Direction
3-Current direction)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode)
Output
BOOL InVelocity Indicate whether to reach the specified speed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give specified velocity operation command to the relevant axis.
(2) In order to stop the specified speed operation, you can make a stop command or execute another motion function block.
(3) Specify the operation speed in Velocity input. Positive sign (+ or No sign) of the operation speed value leads to forward direction,
and negative (-) sign leads to reverse direction.
(4) Specify the operation direction in Direction input. But, the operation direction is affected by the sign of the specified speed value
by Velocity input. For example, if you specify the negative number for the Velocity value and reverse direction for Direction input,
the relevant axis lastly does forward direction operation.
(5) The output InVelocity is turned on when the axis reaches the specified speed, and it is turned off when the specified speed
operation is stopped.

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 Chapter 6 Motion Function Block

(6) The axis is in 'ContinuousMotion' state while this motion function block is running.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Distance, Velocity, Acceleration, Deceleration, Jerk, Direction input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example program shows the movement at a velocity of 10,000,000. Once the set velocity is reached, InVelocityoutput is
on.
(a) Function block setting

(b) Timing diagram

Velocity

Position

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 Chapter 6 Motion Function Block

(10) Application example program

This example program shows that it stops running due to the execution of MC-Halt function block, while moving in the reverse
direction at a velocity of 10,000,000.
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

6.3.9 Absolute position operation ending with specified velocity operation

(MC_MoveContinuousAbsolute)

Motion Function Block

MC_MoveContinousAbsolute
BOOL Execute InEndVelocity BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Position Active BOOL
LREAL EndVelocity CommandAborted BOOL
LREAL Velocity Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT Direction
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
edge
Specify the update setting of input value.
BOOL ContinuousUpdate
Reference
LREAL Position Specify the target position.
LREAL EndVelocity Specify the operation speed after reaching the target position. [u/s]
LREAL Velocity Specify the maximum speed to reach the target position. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the operation direction in case of infinite length repeat operation.
UINT Direction (0~4: 0-Not specified, 1-Forward direction, 2-Shortest distance, 3-Reverse
direction, 4-Current direction)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode)
Output
BOOL InEndVelocity Indicate the operation at the specified speed after reaching the target position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give Specified velocity operation after relative position operation command to the relevant axis.
(2) When executing MC_MoveContinuousAbsolute, the relevant axis moves to the position specified in Position and operates at
the specified speed in EndVelocity if there is no motion function block is on standby.

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 Chapter 6 Motion Function Block

(3) Giving a stop command or execution of other motion function block allow to interrupt speed operation.
(4) Set the operation direction of the axis in infinite length repetition operation in Direction input, and if infinite length repetition
operation is set to Prohibited, Direction input is ignored. When Direction input is the shortest distance (=2), the relevant axis
selects the direction which allows the shortest distance and operates if it does infinite length repetition operation. The range
can be set to 0~4(0-No specified, 1-Forward direction, 2-Shortest distance, 3-Reverse direction, 4-Current direction), if the
value outside the range is set and motion function block is executed, Error is On and “0x1017” occurs in ErrorID.
(5) Output InEndVelocity is on when the relevant axis starts speed operation after reaching the specified position, and when the
specified operation is interrupted, it is Off.
(6) The axis is in 'ContinuousMotion' state while this command is executing.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Position, EndVelocity, Velocity, Acceleration, Deceleration, Jerk, Direction input can be updated. (However, in case of
InEndVelocity=On, it is reflected only EndVelocity inputs.
(8) Velocity and EndVelocityy input can be set to 0 or changed.
(9) Example program
This example program shows the operation at a speed of 20,000,000 after moving from the current command position of
50,000,000 to the 100,000,000 position. Once the set position is reached, InEndVelocity output is on.
(a) Function block setting

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 Chapter 6 Motion Function Block

(b) Timing diagram

Velocity

Position

(10) Application example program

This example program shows the movement in the direction of the same speed when re-executing the function block after
stopping the execution of MC-Halt function block, while moving from the current command position of 0 to the 50,000,000,
then operating at a speed of 20,000,000.
(a) Function block setting

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 Chapter 6 Motion Function Block

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

6.3.10 Relative position operation ending with specified velocity operation

(MC_MoveContinuousRelative)
Motion Function Block

MC_MoveContinousRelative
BOOL Execute InEndVelocity BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL EndVelocity CommandAborted BOOL
LREAL Velocity Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
edge
Specify the update setting of input value.
BOOL ContinuousUpdate
Reference
LREAL Distance Specify the target distance.
LREAL EndVelocity Specify the operation speed after reaching the target position. [u/s]
LREAL Velocity Specify the maximum speed to reach the target position. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
BOOL InEndVelocity Indicate the operation at the specified speed after reaching the target position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block gives MC_MoveContinuousRelative command to the relevant axis.
(2) When executing MC_MoveContinuousRelative, the relevant axis operates at the speed specified in EndVelocity after moving
the distance specified in Distance if there is no motion function block is on standby.
(3) Giving a stop command or operation of other motion function block allow to interrupt specified velocity motion.
(4) Output InEndVelocity is On when the relevant axis starts speed operation and reaches the specified speed after moving the
specified distance, and when specified velocity motion is interrupted, it is Off.
(5) The axis is in 'ContinuousMotion' state while this motion function block is running.
(6) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.

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Only Distance, EndVelocity, Velocity, Acceleration, Deceleration, Jerk input can be updated. (However, in case of
InEndVelocity=On, it is reflected only EndVelocity inputs.
(7) Velocity and EndVelocityy input can be set to 0 or changed.
(8) Example program
This example program shows the operation at a velocity of 20,000,000 after moving from the current command position of
50,000,000 to the 150,000,000 position by moving the distance corresponding to the set value (100,000,000). Once the set
position is reached, InEndVelocity output is on.
(a) Function block setting

(b) Timing diagram

Velocity

Position

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(9) Application example program

This example program shows the movement at a velocity of 20,000,000 after moving from the current command position of 0
to the 50,000,000 position, then operating at a velocity of 20,000,000, stopping by executing MC_Halt function block, moving
to the same relative position (20,000,000) by re-executing the function block.
(a) Function block setting

(b) Timing diagram

Position

Velocity

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 Chapter 6 Motion Function Block

6.3.11 Torque Control (MC_TorqueControl)

Motion Function Block

MC_TorqueControl
BOOL Execute InTorque BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Torque Active BOOL
LREAL TorqueRamp CommandAborted BOOL
LREAL Velocity Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT Direction
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product, Real
axis)
Input
Give an absolute position operation command to the relevant axis in the rising
BOOL Execute
edge
Specify the update setting of input value.
BOOL ContinuousUpdate
Reference
LREAL Torque Specify the target torque. [u]
LREAL TorqueRamp Specify the ascending slope of torque. [u/s]
LREAL Velocity Unused
LREAL Acceleration Unused
LREAL Deceleration Unused
LREAL Jerk Unused
UINT Direction Specify the operation direction. (1~2 : 1-Forward direction, 2-Reverse direction)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL InTorque Indicate that the input torque value and currently operating torque value are same.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give torque control command to the relevant axis.
(2) When executing torque control (MC_Torque), the relevant axis performs the control to keep the torque value specified in Torque
input.
(3) Giving a stop command or operation of other motion function block allow to interrupt specified velocity motion.
(4) Specify the gradient to reach the target torque value in TorqueRamp input.
(5) Specify the operation direction in Direction input. When setting the value outside the range and executing motion function block,

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Error is On and “0x1017” occurs in ErrorID.

(6) Output InTorque is On when the relevant axis reaches the specified torque, and when torque control operation is interrupted,
it is Off.
(7) The axis is in 'ContinuousMotion' state while this motion function block is running.
(8) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied. Only Torque, TorqueRamp, Direction input can be updated.
(9) Timing diagram

Velocity
Target torque reach Stop command execution
Torque
(Target) Torque
=Stop command
deceleration

Time

Execute

InTorque

Busy

Active

Stop
command
execution

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6.3.12 Setting the current position (MC_SetPosition)

Motion Function Block

MC_SetPosition
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Position Busy BOOL
BOOL Relative CommandAborted BOOL
UINT ExecutionMode Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Specify the current position of the relevant axis in the rising Edge.
LREAL Position Specify the position.
BOOL Relative 0: Position value=Absolute position, 1: Position value=Relative position
0: Immediately applied the position value,
UINT ExecutionMode
1: Applied at the same point with ‘Buffered’ of Buffermode
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to set the current position of the relevant axis.
(2) Specify the position in Position input. When executing motion function block, if Relative input is Off, the position of the relevant
axis is replaced by the value of Position input, and if Relative input is On, the value of Position input is added to the current
position of the relevant axis.
(3) ExecutionMode input specifies the setting point. 0 means to be set immediately after motion function block, and 1 means to be
set at the same point with ‘Buffered’ in sequential operation setting. The value unable to be set causes "error0x101B”.
0 (mcImmediately): Change the parameter value immediately after executing function block (rising Edge in Execute input). If
the relevant axis is in running, operation can be affected.
1 (mcQueued): Changed at the same point with ‘Buffered’ in Buffermode. (Refer to 6.1.4 Buffermode input)

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(4) Example program

This example program shows the setting of the current position to 200,000,000 position by adding a relative position
(Relative=1) corresponding to the set value (50,000,000) from the current position of 150,000,000.
(a) Function block setting

(a) Timing diagram

Position

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6.3.13 Velocity/Acceleration override (MC_SetOverride)

Motion Function Block

MC_SetOverride
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
LREAL VelFactor Busy BOOL
LREAL AccFactor Error BOOL
LREAL JerkFactor ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable Execute override operation in the relevant axis while input is activated.
LREAL VelFactor Specify the override rate of speed.
LREAL AccFactor Specify the override rate of acceleration/deceleration.
LREAL JerkFactor Specify the override rate of the change rate of acceleration.
Output
BOOL Enabled Indicate that the override rate was applied successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to override the speed of the relevant axis, acceleration, and the change rate of acceleration.
(2) Override rate which is applied to the relevant axis can be specified and changed while Enable input is On. If Enable input is
Off, override rate right before the Off is maintained.
(3) Specify the speed override ratio for the VelFactor input. If the specified value is 0.0, the relevant axis stops but it is not changed
to 'StandStill' state.
(4) Specify acceleration/deceleration and override rate of jerk (change rate of acceleration) in AccFactor and JerkFactor input
respectively.
(5) Negative number cannot be input in each Facotr, and if it is input, "error 0x10C1” occurs.
(6) Default of each override rate is 1.0, and it means 100% of the command speed of function block currently running.
(7) Override operation does not affect the serve axis of the relevant axis.

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(8) Example program

This example shows the operation by changing the current velocity to 2,000,000/ 3,000,000/ 4,000,000/ 5,000,000 if VelFactor
is changed to 2/3/4/5 at the current velocity of 1,000,000.
(a) Function block setting

(b) Timing diagram

Velocity

Position

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6.3.14 Read parameter (MC_ReadParameter)

Motion Function Block

MC_ReadParameter
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
INT ParameterNumber Busy BOOL
Error BOOL
ErrorID WORD
Value LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
INT ParameterNumber Specify the number of parameter to read.
Output
BOOL Vaild Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
LREAL Value Output the values of the parameters.

(1) This command is a motion function block which outputs parameter of the relevant axis.
(2) The value of the relevant parameter is continuously output in Value while Enable input is On.
(3) Specify the number of parameter to read in ParameterNumber input.

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(4) The numbers of parameter are as below.

No. Parameter Item Note OS*Note 2)

0 Unit 0: pulse, 1: mm, 2: inch, 3:degree -
1 1 Pulse per revolution 1 ~ 4,294,967,295[pulse] -
2 1 Travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
3 Speed command unit 0: Unit/sec, 1: Unit/min, 2: rpm -
LREAL Positive number [Unit/s, rpm]
4 Speed limit value Change according to Unit, Pulses per rotation, Travel per -
rotation, Speed command unit
5 Emergency stop deceleration 0 or LREAL Positive number [Unit/s2] -
6 Encoder select 0:Incremental Encoder,1:Absolute Encoder -
Basic
7 Gear ratio(Motor) 1 ~ 65,535 -
Setting
8 Gear ratio(Machine) 1 ~ 65,535 -
9 Operation mode of the reverse rotation 0: Deceleration stop, 1: Prompt stop -
46 Position Control Range Expansion 0: Disable, 1: -
0: CSP(Cyclic Sync. Position), 1: CSV(Cyclic Sync.
47 Operation mode of Speed Control -
Velocity)
Coordinate Systems Operation 0 or LREAL Positive number [Unit/s2]
48 -
maximum allowable acceleration
Coordinate Systems Operation 0 or LREAL Positive number [Unit/s2]
49 -
maximum allowable deceleration
10 S/W upper limit LREAL*Note 1) [units] -
11 S/W low limit LREAL*Note 1) [units] -
12 Infinite running repeat position LREAL Positive number [Unit] -
13 Infinite running repeat 0:disabled,1:enabled -
14 Command Inposition range 0 or Long real (LREAL) positive number*1) [Unit] -
15 Exceeding value of tracking error 0 or Long real (LREAL) positive number*1) [Unit] -
16 Current position compensation amount 0 or Long real (LREAL) positive number*1) [Unit] -
17 Current speed filter time constant 0 ~ 100 -
18 Error reset monitoring time 1 ~ 1000 [ms] -
19 Expansion S/W limit during speed control 0: Not detect , 1 : detect -
20 Setting Tracking error level 0: Warning, 1: Alarm -
LREAL Positive number
21 Jog high speed -
(Jog low speed ~speed limit ) [Unit/s]
LREAL Positive number
22 Jog low speed -
( < Jog high speed) [Unit/s]
23 JOG Acceleration 0 or LREAL Positive number [Unit/s2] -
24 JOG Deceleration 0 or LREAL Positive number [Unit/s2] -
25 JOG Jerk 0 or LREAL Positive number [Unit/s3] -
26 Override mode 0: Specified by ratio, 1: Specified by unit -
29 Backlash compensation amount 0 or Long real (LREAL) positive number*1) [Unit] V1.30
Identifying range to reach the spindle 0~100%
27 NC Spindle
rotation command speed
Control
Identifying RPM to reach the spindle 0 ~ 100rpm
28 Setting
rotation zero speed
NC 0: Not Use, 1: Motor ENC, 2: Built-in ENC1,
30 Select the Spindle Encoder V1.30
Spindle 3: Built-in ENC2, 4: EtherCAT ENC

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No. Parameter Item Note OS*Note 2)

Axis Number of pulses per rotation of the
31 1 ~ 4294967295 V1.30
Setting spindle EtherCAT encoder
Spindle EtherCAT encoder position 0: I device, 1: M device
32 V1.30
variable
0~4095 (Spindle EtherCAT encoder position variable = 0: I)
Spindle EtherCAT encoder position
33 0~524287 (Spindle EtherCAT encoder position variable = V1.30
address
1: M)
The P Gain of the Spindle Positioning
34 1~500 Hz V1.30
Mode
The Feed Forward Gain of the Spindle
35 0~100 % V1.30
Positioning Mode
No. Parameter Item Note OS
0: Servo drive supported, 33:Reverse direction, Z phase,
36 How to conduct the homing operation 34: Forward direction, Z phase, 35: Set the homing of the V1.30
current position
Switch navigation speed of the homing LREAL Positive number
37 V1.30
operation
Zero navigation speed of the homing Zero navigation speed of the origin operation ≤ Switch
38 V1.30
NC operation navigation speed of the origin ≤ Limit value of speed
Spindle Acceleration/deceleration of the homing 0 or LREAL Positive number [Unit/s2]
39 V1.30
Home operation
40 Setting Z phase variable 0: I device, 1: M device V1.30
0~131071 (Z phase variable = 0: I)
41 Z phase address V1.30
0~16777215 (Z phase variable = 0: M)
Long real (LREAL) positive number*note1) (≤ Limit value of
42 Orientation velocity V1.30
speed)
43 Orientation diredtion 0:forward direction , 1:reverse direction V1.30
44 Orientation offset 0~360 V1.30
100 Encorder 1 unit 0: pulse, 1: mm, 2: inch, 3:degree -
101 Encorder1 pulse per rotation 1 ~ 4,294,967,295[pulse] -
102 Encorder1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier
103 Encorder1 pulse input 2: Pulse/Dir 2 multiplier, 3: Phase A/B 1 multiplier -
4: Phase A/ B 2 multiplier, 5: Phase A/B 4 multiplier
104 Encorder1 max. value (Encoder1 min. value + 1) ~ 2147483647 -
105 Encoder1 Min. value -2147483648~(Encoder1 Max. value-1) -
0: Disable, 1:500kPPS
Built-in
2: 200kPPS, 3: 100kPPS
106 Encoder Encoder1 input filter value -
4: 10kPPS, 5: 1kPPS
Setting
6: 0.1kPPS
107 Encoder1 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm V1.10
108 Encoder1 position filter time constant 0 ~ 1000 ms V1.10
109 Encoder 1 Position Latch 0: Disable, 1: Able V1.40
200 Encorder 2 unit 0: pulse, 1: mm, 2: inch, 3:degree -
201 Encorder 2 1 pulse per rotation 1 ~ 4,294,967,295[pulse] -
202 Encorder 2 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier
203 Encorder2 pulse input -

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No. Parameter Item Note OS*Note 2)

2: Pulse/Dir 2 multiplier, 3: Phase A/B 1 multiplier
4: Phase A/ B 2 multiplier, 5: Phase A/B 4 multiplier
204 Encorder2 max. value (Encoder2 min. value + 2) ~ 2147483647 -
205 Encoder2 Min. value -2147483648~(Encoder2 Max. value-1) -
0: Disable, 1:500kPPS
2: 200kPPS, 3: 100kPPS
206 Encoder2 input filter value -
4: 10kPPS, 5: 1kPPS
6: 0.1kPPS
207 Encoder2 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm V1.10
208 Encoder2 position filter time constant 0 ~ 1000 ms V1.10
209 Encoder 2 Position Latch 0: Disable, 1: Able V1.40

*Note1) LREAL range: 2.2250738585072e-308 ~ 1.79769313486232e+308

LREAL positive range: 0 < x ≤1.79769313486232e+308
* note2) OS version is the version information to which the parameter is applied.

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6.3.15 Write parameter (MC_WriteParameter)

Motion Function Block

MC_WriteParameter
BOOL Execute Done BOOL
UINT Axis Axis UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExcutionMode ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Rising Edge corresponding parameters of input is written.
INT ParameterNumber Specify the number of parameter to write.
LREAL Value Specify the value of parameter to write.
UINT ExecutionMode Specify the time when parameter is written.
Output
BOOL Vaild Indicate whether parameter is successfully written.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to write the value specified in parameter of the relevant axis.
(2) The parameters will be written in the rising edge of the Execute input.
(3) Specify the number of parameter to write in ParameterNumber input. The value unable to be set causes "error 0x10F0”.
(4) Specify the value to write in parameter for Value input.
(5) In ExecutionMode, correct the time when parameter is written and the values below can be set. The value unable to be set
causes "error 0x101B”.
0 (mcImmediately): Change the parameter value immediately after executing function block (rising Edge in Execute input). If
the relevant axis is in running, operation can be affected.
1 (mcQueued): Changed at the same point with ‘Buffered’ in Buffermode. (Refer to 6.1.4.BufferMode input )

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(6) The numbers of parameter are as below.

No. Parameter Item Note OS
0 Unit 0: pulse, 1: mm, 2: inch, 3:degree -
1 1 Pulse per revolution 1 ~ 4,294,967,295[pulse] -
2 1 Travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
3 Speed command unit 0: Unit/sec, 1: Unit/min, 2: rpm -
LREAL Positive number [Unit/s, rpm]
4 Speed limit value Change according to Unit, Pulses per rotation, Travel per -
rotation, Speed command unit
5 Emergency stop deceleration 0 or LREAL Positive number [Unit/s2] -
6 Encoder select 0:Incremental Encoder,1:Absolute Encoder -
Basic
7 Gear ratio(Motor) 1 ~ 65,535 -
Setting
8 Gear ratio(Machine) 1 ~ 65,535 -
9 Operation mode of the reverse rotation 0: Deceleration stop, 1: Prompt stop -
46 Position Control Range Expansion 0: Disable, 1: Able
0: CSP (Cyclic Sync. Position), 1: CSV (Cyclic Sync.
47 Operation mode of Speed Control
Velocity)
Coordinate Systems Operation 0 or LREAL Positive number [Unit/s2]
48
maximum allowable acceleration
Coordinate Systems Operation 0 or LREAL Positive number [Unit/s2]
49
maximum allowable deceleration
10 S/W upper limit LREAL*Note 1) [units] -
11 S/W low limit LREAL*Note 1) [units] -
12 Infinite running repeat position LREAL Positive number [Unit] -
13 Infinite running repeat 0:disabled,1:enabled -
14 Command Inposition range 0 or Long real (LREAL) positive number*1) [Unit] -
15 Exceeding value of tracking error 0 or Long real (LREAL) positive number*1) [Unit] -
16 Current position compensation amount 0 or Long real (LREAL) positive number*1) [Unit] -
17 Current speed filter time constant 0 ~ 100 -
18 Error reset monitoring time 1 ~ 1000 [ms] -
19 Expansion S/W limit during speed control 0: Not detect , 1 : detect -
20 Setting Tracking error level 0: Warning, 1: Alarm -
LREAL Positive number
21 Jog high speed -
(Jog low speed ~speed limit ) [Unit/s]
LREAL Positive number
22 Jog low speed -
( < Jog high speed) [Unit/s]
23 JOG Acceleration 0 or LREAL Positive number [Unit/s2] -
24 JOG Deceleration 0 or LREAL Positive number [Unit/s2] -
25 JOG Jerk 0 or LREAL Positive number [Unit/s3] -
26 Override mode 0: Specified by ratio, 1: Specified by unit -
29 Backlash compensation amount 0 or Long real (LREAL) positive number*1) [Unit] V1.30
Identifying range to reach the spindle 0~100%
27 NC Spindle
rotation command speed
Control
Identifying RPM to reach the spindle 0~ 100rpm
28 Setting
rotation zero speed
NC 0: Not Use, 1: Motor ENC, 2: Built-in ENC1,
30 Select the Spindle Encoder V1.30
Spindle 3: Built-in ENC2, 4: EtherCAT ENC

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No. Parameter Item Note OS

Number of pulses per rotation of the
31 1 ~ 4294967295 V1.30
spindle EtherCAT encoder
Spindle EtherCAT encoder position 0: I device, 1: M device
32 V1.30
variable
0~4095 (Spindle EtherCAT encoder position variable = 0: I)
Axis Spindle EtherCAT encoder position
33 0~524287 (Spindle EtherCAT encoder position variable = V1.30
Setting address
1: M)
The P Gain of the Spindle Positioning
34 1~500 Hz V1.30
Mode
The Feed Forward Gain of the Spindle
35 0~100 % V1.30
Positioning Mode
0: Servo drive supported, 33:Reverse direction, Z phase,
36 How to conduct the homing operation 34: Forward direction, Z phase, 35: Set the homing of the V1.30
current position
Switch navigation speed of the homing LREAL Positive number
37 V1.30
operation
Zero navigation speed of the homing Zero navigation speed of the origin operation ≤ Switch
38 V1.30
NC operation navigation speed of the origin ≤ Limit value of speed
Spindle Acceleration/deceleration of the homing 0 or LREAL Positive number [Unit/s2]
39 V1.30
Home operation
40 Setting Z phase variable 0: I device, 1: M device V1.30
0~131071 (Z phase variable = 0: I)
41 Z phase address V1.30
0~16777215 (Z phase variable = 0: M)
Long real (LREAL) positive number*note1) (≤ Limit value of
42 Orientation velocity V1.30
speed)
43 Orientation diredtion 0:forward direction , 1:reverse direction V1.30
44 Orientation offset 0~360 V1.30
100 Encorder 1 unit 0: pulse, 1: mm, 2: inch, 3:degree -
101 Encorder 1 1 pulse per rotation 1 ~ 4,294,967,295[pulse] -
102 Encorder 1 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier
103 Encorder1 pulse input 2: Pulse/Dir 2 multiplier, 3: Phase A/B 1 multiplier -
4: Phase A/ B 2 multiplier, 5: Phase A/B 4 multiplier
104 Encorder1 max. value (Encoder1 min. value + 1) ~ 2147483647 -
105 Encoder1 Min. value -2147483648~(Encoder1 Max. value-1) -
0: Disable, 1:500kPPS
Built-in 2: 200kPPS, 3: 100kPPS
106 Encoder1 input filter value -
Encoder 4: 10kPPS, 5: 1kPPS
Setting 6: 0.1kPPS
107 Encoder1 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm V1.10
108 Encoder1 position filter time constant 0 ~ 1000 ms V1.10
109 Encoder 1 Position Latch 0: Disable, 1: Able V1.40
200 Encorder 2 unit 0: pulse, 1: mm, 2: inch, 3:degree -
201 Encorder 2 1 pulse per rotation 1 ~ 4,294,967,295[pulse] -
202 Encorder 2 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier
203 Encorder2 pulse input 2: Pulse/Dir 2 multiplier, 3: Phase A/B 1 multiplier -
4: Phase A/ B 2 multiplier, 5: Phase A/B 4 multiplier

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No. Parameter Item Note OS

204 Encorder2 max. value (Encoder1 min. value + 2) ~ 2147483647 -
205 Encoder2 Min. value -2147483648~(Encoder2 Max. value-1) -
0: Disable, 1:500kPPS
2: 200kPPS, 3: 100kPPS
206 Encoder2 input filter value -
4: 10kPPS, 5: 1kPPS
6: 0.1kPPS
207 Encoder2 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm V1.10
208 Encoder2 position filter time constant 0 ~ 1000 ms V1.10
209 Encoder 2 Position Latch 0: Disable, 1: Able V1.40
*Note1) LREAL range: 2.2250738585072e-308 ~ 1.79769313486232e+308
LREAL positive range: 0 < x ≤1.79769313486232e+308

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6.3.16 Reset axis error (MC_Reset)

Motion Function Block

MC_Reset
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ErrorType Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Reset the axis error in the rising Edge of input.
BOOL ErrorType The types of error to be reset (0: Axis error, 1: Common error)
Output
BOOL Done Indicates whether the axis error was successfully reset
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to reset the error of the relevant axis. When setting ErrorType to '0' and executing motion function
block in case the relevant axis is in ' ErrorStop' state, every axis error is reset and the axis state is switched to 'StandStill' or 'Disabled'
state.
(2) If ErrorType is set to ‘1’ and motion function block is executed,
Common error occurred in the relevant module is reset.
(3) Motion function block is executed in the rising Edge of Execute input.

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6.3.17 Touch probe (MC_TouchProbe/MC_TouchProbeEx)

Motion Function Block

MC_TouchProbe
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT TriggerInput TriggerInput UINT
BOOL WindowOnly Busy BOOL
LREAL FirstPosition CommandAborted BOOL
LREAL LastPosition Error BOOL
ErrorID WORD
RecordedPosition LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product, Real
axis)
UINT TriggerInput Specify the signal to be used as a trigger.
(0: Touch probe 1 rising edge, 1: Touch probe 2 rising edge)
Input
BOOL Execute TouchProbe function starts at the rising Edge of input.
BOOL WindowOnly Activate the window mode.
LREAL FirstPosition Specify the starting position of allowable area in the window mode.
LREAL LastPosition Specify the end position of allowable area in the window mode.
Output
BOOL Done Indicate that the trigger signal is successfully recorded.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
Read RecordedPosition Output the axis position where the trigger occurs.

(1) This motion function block is to execute 'TouchProbe' function which records the axis position at the time when the trigger event
occurs.
(2) TouchProbe function starts at the rising Edge of Execute input.
(3) Specify the signal to be used as a trigger in TriggerInput. The value unable to be set causes "error 0x10E1”.
(4) If the touch probe command satisfies the trigger condition, the Done output is On, and the position value at the trigger point is
saved in the RecordedPosition output. The RecordedPosition output is not initialized and retains the previously stored value
even if the Execute input changes to On or Off or an error occurs. The RecordedPosition output is updated when the touch
probe command is re-executed to normally satisfy the trigger condition.
(5) When activating the window mode, allowable area where accepts the trigger signal of axis can be set. Operation timing of each
signal when the window mode is activated is as below.

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Motion Function Block

MC_TouchProbeEx
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT TriggerInput TriggerInput UINT
UINT TriggerMode Busy BOOL
BOOL WindowOnly CommandAborted BOOL
LREAL FirstPosition Error BOOL
LREAL LastPosition ErrorID WORD
RecordedPosition LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product, Real
axis)
UINT TriggerInput Specify the signal to be used as a trigger.
(0: Touch probe 1 rising edge, 1: Touch probe 2 rising edge,
2: Touch probe 1 falling edge, 3: Touch probe 2 falling edge)
4: Touch probe 1 index[Enc. Z] pulse, 5: Touch probe 2 index[Enc. Z] pulse)
Input
BOOL Execute TouchProbe function starts at the rising Edge of input.
UINT TriggerMode Set the trigger mode. (0: single trigger, 1 : continuous trigger)
BOOL WindowOnly Activate the window mode.
LREAL FirstPosition Specify the starting position of allowable area in the window mode.
LREAL LastPosition Specify the end position of allowable area in the window mode.
Output
BOOL Done Indicate that the trigger signal is successfully recorded.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL RecordedPosition Output the axis position where the trigger occurs.

(1) This motion function block is an extended touch probe function block that includes the functions of the existing touch probe
(MC_TouchProbe).
(2) Expansion TouchProbe function starts at the rising Edge of Execute input.
(3) Specify the signal to be used as a trigger in TriggerInput. The input range (0~1) of the existing (MC_TouchProbe) function block
and the input range (0~5) of the extended function touch probe (MC_TouchProbeEx) function block are different. The value
unable to be set causes "error 0x10E2”.
(4) When setting the touch probe index [Enc.Z] pulse (4, 5) in TriggerInput, the index pulse rising edge signal of the encoder
installed in the motor of the axis to be commanded is used as the position recording trigger. Therefore, the touch probe 1 index
[Enc. Z] Pulse and touch probe 2 index [Enc. Z] pulse records the same data and selects whether to use touch probe 1 or
touch probe 2 for the data storage channel.
(5) TriggerMode specifies the trigger mode. The value unable to be set causes "error 0x10E3”. If TriggerMode is set to continuous
trigger, position recording continues according to the signal set in TriggerInput until execution is stopped with the
MC_AbortTrigger function block.
(6) Similar to the MC_TouchProbe function block, the setting can be canceled with the MC_AbortTrigger function block.
(7) When activating the window mode, allowable area where accepts the trigger signal of axis can be set. Operation timing of each
signal when the window mode is activated is as below.

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Notes
In the case of using Touch Probe, please set the slave parameters before use.
1. At XG50000, click the registration information of the servo drive.

2. Select PDO Setting at the slave information window

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3. Select Touch Probe item in the edit window and click the arrow (downward), and include it in the PDO communication
data. Touch Probe related PDO item are as follows.
1) RxPDO
Touch probe function(0x60B8)
2) TxPDO
Touch probe Status(0x60B9)
Touch Probe 1 forward direction position value (0x60BA)
Touch Probe 1 backward direction position value (0x60BB)
Touch Probe 2 forward direction position value (0x60BC)
Touch Probe 2 backward direction position value (0x60BD)

4. After PDO item is edited, must write ‘EtherCAT parameter’ in motion controller.

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End pointition

End pointition

Starting pointition

Time
Location is not recorded Location is not recorded

< When the TriggerInput input value is the rising edge of the touch probe and the touch probe function is in window mode, the
operation timing >

Trigger Event signal

End pointition

End pointition

Starting pointition

Time
Location is not recorded Location is not recorded

< When the TriggerInput input value is the falling edge of the touch probe and the touch probe function is in window mode, the
operation timing >

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6.3.18 Abort trigger events (MC_AbortTrigger)

Motion Function Block

MC_AbortTrigger
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT TriggerInput TriggerInput USINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
Specify the axis to be commanded. (See 6.2.1 Setting Range by Product, Real
UINT Axis
axis)
UINT TriggerInput Specify the trigger signal to be disengaged. (0: Touch probe 1, 1: Touch probe 2)
Input
BOOL Execute The trigger on standby in the relevant axis in the rising Edge is disengaged.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to disengage the trigger which is on standby in the relevant axis.
(2) Specify the trigger signal to be disengaged in TriggerInput. The value unable to be set causes "error 0x10E1”.

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6.3.19 SuperImposed operation (MC_MoveSuperImposed)

Motion Function Block

MC_MoveSuperImposed
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL VelocityDiff CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk CoveredDistance LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Give a SuperImposed operation command to the relevant axis in the rising Edge.
BOOL ContinuousUpdate Specify the update setting of input value.
(Refer to 6.1.5.Changes in Parameters during Execution of Motion Function Block)
LREAL Distance Specify the target distance. [u]
LREAL VelocityDiff Specify the added velocity. [u/s]
LREAL Acceleration Specify the added acceleration. [u/s2]
LREAL Deceleration Specify the added deceleration. [u/s2]
LREAL Jerk Specify the added change rate of acceleration/deceleration. [u/s3]
Output
BOOL Done Indicate whether to reach the specified distance.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
LREAL CoveredDistance Indicate the distance moved with SuperImposed operation after SuperImposed
command.

(1) This motion function block is a command issuing SuperImposed operation order to the relevant axis.
(2) SuperImposed is a command ordering to move from the current position at the time of the command to the target distance set
by Distance input.
(3) The direction of the movement is determined by the positivity/negativity of the set distance. Positive distance (+ or no sign)
means forward movement, and negative distance (-) means reverse movement.
(4) After moving the target distance, when the velocity reaches 0, the command is completed and Done output is on.

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6.3.20 SuperImposed operation Stop ((MC_HaltSuperImposed)

Motion Function Block

MC_HaltSuperImposed
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Deceleration Busy BOOL
LREAL Jerk CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Give a SuperImposed operation halt command to the relevant axis in the rising
Edge.
LREAL Deceleration Specify deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Output
BOOL Done Indicates that SuperImposed operation of the relevant axis is stopped.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is a command issuing an order to halt superImposed operation to the relevant axis.
(2) Halt command for SuperImposed operation is a command ordering to decelerate and halt at a given acceleration and jerk at
the time of performing the command.
(3) After moving the target distance, when the velocity reaches 0, the command is completed and Done output is on.

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6.3.21 Perform the search expansion home (LS_Home)

Motion Function Block

LS_Home
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Position Busy BOOL
SINT HomingMethod Active BOOL
LREAL SwitchSearchSpeed CommandAborted BOOL
LREAL ZeroSearchSpeed Error BOOL
LREAL HomingAcc ErrorID WORD
LREAL HomeOffset
UINT DoneBehavior
UINT BufferMode

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Start the homing operation in rising Edge.
Specify the absolute position of axis when reference signal is detected. (When the
LREAL Position command position value is converted to a pulse, it is set within the range of -
2147483648 to 2147483647.)
SINT HomingMethod Set the homing method (0x6098)
LREAL SwitchSearchSpeed Set the switch search speed (0x6099:1) when returning to the homing.
LREAL ZeroSearchSpeed Set the zero search speed (0x6099:2) when returning to the homing.
LREAL HomingAcc Set acceleration/deceleration (0x609A) when returning to homing.
LREAL HomeOffset Set Offest (0x607C) when returning to homing.
Set the movement (0x201E) after homing is completed.
UINT DoneBehavior (Used by drives other than our own L7N, the value has no effect on third-party
drives)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a expansion homing command to the relevant axis.
(2) The homing method operates as set in the function block. (The homing method may be different for each drive, so please refer
to the user manual of the drive you are using. When using our XDL-N series servo drive, please refer to 8.1 Origin
Determination)
(3) As for Position input, absolute position of axis is specified when Reference Signal is detected or homing is completed.
(4) While this motion function block is running, the axis is 'Homing' state, and when the command is completed, it is switched to
'Standstill'.
(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are

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applied.
Only Position input can be updated.
(6) The input range for SwitchSearchSpeed, ZeroSearchSpeed, and HomingAcc is 0 ≤ Parameter ≤ 1073741824 in pulse units,
and the input range for HomeOffset is -2147483648≤ Parameter ≤2147483647 in pulse units. If a value is input in a unit other
than pulse unit, it is converted to pulse unit and checked if the value is out of range, and an error occurs if it is out of range.
(7) In the case of DoneBehavior, this is a function to set the movement method after homing is completed. It is used for drives
other than our own L7N, and the value set in the function block does not affect when a third-party drive is used.
0: After homing is completed, the motor does not rotate and the Home Offset value becomes Zero Position.
1: After homing is completed, the motor moves as much as the Home Offset value, and it becomes the Zero Position at the
position where the movement is completed.

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6.3.22 Reset axis error 2(MC_Reset2)

Motion Function Block

MC_Reset2
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT ErrorType Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Reset the axis error in the rising Edge of input.
The types of error to be reset (0: Axis error, 1: Common error, 2: Axis error and
UINT ErrorType
Common error)
Output
BOOL Done Indicates whether the axis error was successfully reset
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to reset the error of the relevant axis. When setting ErrorType to '0' and executing motion function
block in case the relevant axis is in ' ErrorStop' state, every axis error is reset and the axis state is switched to 'StandStill' or 'Disabled'
state.
(2) If ErrorType is set to ‘1’ and motion function block is executed, Common error occurred in the relevant module is reset. If ErrorType
is set to ‘2’ and motion function block is executed, errors and common errors occurring in the set axis are reset.
(3) Motion function block is executed in the rising Edge of Execute input.
(4) “Error 0x1023” occurs when a value greater than 2 is entered for ErrorType
(5) BufferMode can be selected, unlike MC_Stop Halt command (MC_Halt) can be stopped by another motion function block.

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6.3.23 Read Motion Information (MC_ReadMotionInfo)

Motion Function Block

MC_ReadMotionInfo
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
INT ParameterNumber Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
INT ParameterNumber Specify the number of parameter to read.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs the parameter value as a real number.
LREAL Value64 Outputs the parameter value as a Long Real Number.

(1) This command is a motion function block which outputs motion information of the relevant axis.
(2) While Enable input is On, the value of the item set by ParameterNumber is continuously output to Value32 and
Value64.
(3) Specify the number of item to read in ParameterNumber input. The number is as follows.

Item ParameterNumber Unit

Current Position display unit set on the commanded axis
0
position
Command Position display unit set on the commanded axis
1
position
Current Speed display unit set on the commanded axis
2
Velocity
Command Speed display unit set on the commanded axis
3
speed
Current Rated torque %
4
Torque
Command Rated torque %
5
Torque

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6.3.24 Read current Position (MC_ReadActualPosition)

Motion Function Block

MC_ReadActualPosition
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs the current position value as a real number.
LREAL Value64 Outputs the current position value as a Long Real Number.

(1) This command is a motion function block which outputs current position of the relevant axis.
(2) While Enable input is On, the current position value is continuously output to Value32 and Value64 in the
unit of position set on the axis.

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6.3.25 Read current Velocity (MC_ReadActualVelocity)

Motion Function Block

MC_ReadActualVelocity
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs the current speed value as a real number.
LREAL Value64 Outputs the current speed value as a Long Real Number.

(1) This speed is a motion function block which outputs current speed of the relevant axis.
(2) While Enable input is On, the current speed value is continuously output to Value32 and Value64 in the unit of speed set on
the axis.

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6.3.26 Read current torque (MC_ReadActualTorque)

Motion Function Block

MC_ReadActualTorque
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs the current torque value as a real number.
LREAL Value64 Outputs the current torque value as a Long Real Number.

(1) This command is a motion function block which outputs current torque of the relevant axis.
(2) While the Enable input is On, the current torque value is continuously output as a % value of the rated torque in Value32
and Value 64.
(3) If the actual torque value (0x6077) is not included in the servo drive TxPDO setting, the value is not displayed normally.

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6.3.27 Read command Position (MC_ReadCommandedPosition)

Motion Function Block

MC_ReadCommandedPosition
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs current position value as a real number.
LREAL Value64 Outputs command position value as a Long Real Number.

(1) This command is a motion function block which outputs command position of the relevant axis.
(2) While Enable input is On, the command position value is continuously output to Value32 and Value64 in the
unit of position set on the axis.

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6.3.28 Read command Velocity (MC_ReadCommandedVelocity)

Motion Function Block

MC_ReadCommandedVelocity
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs command speed value as a real number.
LREAL Value64 Outputs command position value as a Long Real Number.

(1) This command is a motion function block which outputs command speed of the relevant axis.
(2) While Enable input is On, the command speed value is continuously output to Value32 and Value64 in the unit of
speed set on the axis.

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6.3.29 Read command torque (MC_ReadCommandedTorque)

Motion Function Block

MC_ReadCommandedTorque
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD
Value32 REAL
Value64 LREAL

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
REAL Value32 Outputs command torque value as a real number.
LREAL Value64 Outputs command torque value as a Long Real Number.

(1) This command is a motion function block which outputs command torque of the relevant axis.
(2) While the Enable input is On, the command torque value is continuously output as a % value of the rated torque
in Value32 and Value 64.
(3) If the actual torque value (0x6077) is not included in the servo drive TxPDO setting, the value is not displayed
normally.

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6.4 Multi-Axis Motion Function Block

6.4.1 Cam operation (MC_CamIn)

Motion Function Block

MC_CamIn
BOOL Execute InSync BOOL
UINT Master Master UINT
UINT Slave Slave UINT
LREAL ContinousUpdate Busy BOOL
LREAL MasterOffset Active BOOL
LREAL SlaveOffset CommandAborted BOOL
LREAL MasterScaling Error BOOL
LREAL SlaveScaling ErrorID WORD
LREAL MasterStartDistance EndOfProfile BOOL
LREAL MasterSyncPosition
UINT StartMode
UINT MasterValueSource
UINT CamTableID
UINT BufferMode

Input-Output
UINT Master Set main axis (See 6.2.1 Setting Range by Product), Available to set variables only
Set the serve axis. (See 6.2.1 Setting Range by Product), Available to set variables
UINT Slave
only
Input
BOOL Execute Give cam operation command to the relevant axis in the rising Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate
Reference
LREAL MasterOffset Set the offset value of the main axis.
LREAL SlaveOffset Set the offset value of the slave cam table.
LREAL MasterScaling Specify the magnification of the main axis.
LREAL SlaveScaling Specify the magnification of the slave axis cam table.
Specify the position of the main-axis where the cam operation of the master axis
LREAL MasterStartDistance
starts.
LREAL MasterSyncPosition Specify the starting point at cam table when cam operation starts.
Set the cam operation mode.
0: Cam table is applied as an absolute value. (mcAbsolute)
UINT StartMode
1: Cam table is applied as a relative value based on the command start position.
(mcRelative)
Select the source of the main axis for cam operation.
UINT MasterValueSource 0: Synchronizes to the command position of the main axis.
1: Synchronizes to the current position of the main axis.
UINT CamTableID Specify the cam table to operate. ( refer toSee 6.2.1 Setting Range by Product)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)

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Output
Indicate that cam operation is normally being fulfilled.
BOOL InSync
(Indicate that the serve axis is following the cam table.)
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(8) This motion function block is to operate the serve axis cam depending on the main axis.
(9) Cam operation command can be given to the serve axis even if the main axis is in stop state.
(10) To halt cam operation, MC_CamOut command should be issued on the sub-axis, or another motion function block should be
operated (in case of Aborting).
(11) If this motion function block is aborted by another command (BufferMode=0 of newly executed command), the cam operation
is stopped, and the CommandAborted output is on.
(12) If another command is executed by Buffered while this motion function block is being executed (BufferMode=1~5 of newly
executed command), the operation of the cam profiled cycle is terminated, and then the newly executed command is run
subsequently. InSync / Busy / Active / CommandAborted / Error output of MC_CamIn function block are all Off.
(13) The axis is in 'Synchronized Motion' while this motion function block is running.
(14) Set the offset of the cam table to be applied in MasterOffset and SlaveOffset. MasterOffset determines the offset from the
master axis start point, and Slaveoffset determines the offset from the slave axis start point. Refer to the Figure below. Using
offset may change the start position for cam operation, causing an abrupt operation. In such a case, MasterSyncPosition,
MasterStartDistance should be used.

Before After
applying applying
Serve axis
Position

Main, Serve axis Main axis

starting point Position
MasterOffset

After
applying
Serve axis
Position
Before
applying
SlaveOffset

Main, Serve axis Main axis

starting point Position

(15) Set the magnification of cam data to be applied in MasterScaling and SlaveScaling. MasterScaling determines the scale rate
of the main-axis data, and SlaveScaling determines the scale rate of the sub-axis data. Refer to the Figure below.

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After applying
SlaveScaling = 2.0 SlaveScaling

SlaveScaling = 1.0
After applying
MasterScaling

MasterScaling = 1.0 MasterScaling = 2.0

(16) MasterSyncPosition specifies the position of the master axis within the table where the synchronization of actual cam operation
is completed, and MasterStartDistance specifies the relative position of the master axis where the synchronization starts.
Synchronization starts at a position as far away as MasterStartDistance from MasterSyncPosition. If unable to start
synchronized operation at Cycle 1 as shown below (if the distance from the start position to the synchronized operation start
position is shorter than MasterStartDistance), synchronized operation starts at Cycle 2.
Synchronization Synchronized Operation
section section

Serve axis
Position

Cycle 1 Cycle 2 Cycle 3

SlaveOffset

Camming run MasterSyncPosition Main axis

Start Position Position
MasterOffset
MasterStartDistance

<When MasterScaling is 1.0>

Synchronization Synchronized Operation

section section

Serve axis
Position

SlaveOffset

Camming run Main axis

Start Position MasterOffset MasterStartDistance Position
MasterSyncPosition

<When MasterScaling is 2.0>

Actual synchronization position can vary depending on MasterScaling and SlaveScaling because MasterSyncPosition is a
value based on the inside of cam table, but MasterOffset and MasterStartDistance value remain unaffected.
(9) The changed parameters can be applied when ContinuousUpdate input is On. Only MasterOffset, SlaveOffset, MasterScaling,
SlaveScaling, MasterStartDistance, MasterSyncPosition can be updated (However, In InSync=On case, MasterOffset,
SlaveOffset, MasterScaling, SlaveScaling can be updated.)

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(10) Once cam operation starts normally, InSync output is On, and EndOfProfile output is 1 scan On every time one cam table
operation is completed.

Main axis
Position

MasterSyncPosition

MasterStartDistance

Synchronization
section Synchronized operation section Time
Serve axis
Position

Time

InSync

EndOfProfile
1 Scan

(11) Cam operation mode is set in StartMode. The setting range is either 0 or 1. If the input value exceeds the setting range, an
error occurs. If it is set to 0, the cam table start position is set to the main-axis position of 0. If it is set to 1, the cam table start
position is set to the current position of the main-axis.
(12) MasterValueSource selects the source of the main axis to be synchronized. If set to 0, the serve axis performs cam operations
based on the command position of the main axis calculated in the motion controller, and if set to 1, the serve axis performs
cam operations based on the current position received via communication from the servo drive of the main axis.
(13) CamTableID sets the number of cam table to be applied to cam operation. The setting range is from 1 to 32. If the input value
exceeds the setting range, an error "0x1115" occurs at the motion function block.
(14) The corresponding axis is in a "SynchronizedMotion” state when this motion function block is running.
(15) Example program
This example shows generating a cam profile, executing MC_CAMIN command on the sub-axis, moving the main-axis to the
200,000 position
(a) Function block setting

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(b) Timing diagram

MC_MoveRelative On
MC_MOVERELATIVE.Done

MC_CAMIN On

MC_CAMIN.Busy

MC_CAMIN.Active

MC_CAMIN.Insync
_AXxx_Synchronized (%JXxx.84 )

Main axis speed

Slave axis position

Slave axis speed

Main axis position

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(16) Application example program

This example shows the movement of the main-axis from 0 to 200,000 positions after generating a cam profile and then
executing MC_CAMIN command on the sub-axis.
(a) Function block setting

(b) Timing diagram

Main axis speed

Slave axis speed

Slave axis position

Main axis position

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6.4.2 Cam operation Disable(MC_CamOut)

Motion Function Block

MC_CamOut
BOOL Execute Done BOOL
UINT Slave Slave UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give cam operation stop command to the relevant axis in the rising Edge.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block immediately disengages cam operation running in the serve axis.
(2) If motion function block of which BufferMode is Aborting in the serve axis where cam operation is running, cam operation is
automatically disengaged and the relevant motion function block is executed. To execute cam operation abort (MC_CamOut)
motion function block, the relevant axis do operation which keeps the speed at the time when cam operation is disengaged. If
you want to completely stop the serve axis, use stop (MC_Halt) or immediate stop (MC_Stop) motion function block.
(3) When MC_CamOut motion function block is executed, the InSync output of MC_CamIn function block and the Synchronized
status flag (_AXxx_Synchronized) is off.
(4) Example program
This example shows generating a cam profile, executing MC_CAMIN command on the sub-axis, moving main-axis to the
200,000 position and then executing MC_CAMOUT The sub-axis maintains the velocity at the time when the cam operation
is terminated.
(a) Function block setting

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(b) Timing diagram

Main axis speed

Slave axis speed

Slave axis position

Main axis position

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6.4.3 Gear operation (MC_GearIn)

Motion Function Block

MC_GearIn
BOOL Execute InGear BOOL
UINT Master Master UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
INT RatioNumerator Active BOOL
UINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
UINT Master Set main axis ( refer toSee 6.2.1 Setting Range by Product)
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate
(Refer to 6.1.5 Chnges in Parameters during Execution of motion Function Block)
INT RatioNumerator Specify the numerator of gear ratio. (-32768 ~ 32767)
UINT RatioDenominator Specify the denominator of gear ratio. (0 ~ 65535)
Select data of the main axis to be synchronized.
UINT MasterValueSource 0: Synchronize in the command position of the main axis.
1: Synchronize in the current position of the main axis.
LREAL Acceleration Specify the acceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Deceleration Specify the deceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL InGear Indicate that gear operation is running by applying gear ration.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is an operation to synchronize the speed of the main axis and the serve axis depending on gear
ratio which is set.
(2) Giving gear operation abort (MC_GearOut) commands to the relevant axis or execution of other motion function block allow
disengaging gear operation.
(3) RatioNumerator and RatioDenominator set the numerator and denominator to be applied to the serve axis respectively. If the
numerator is set to negative number, the rotation direction of the serve axis is the opposite of the main axis.
(4) MasterValueSource select the data of the main axis which is a standard of synchronization. If it is set to 0, synchronization

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operation is based on the command position of the main axis of motion controller, and if it is set to 1, synchronization operation
is based on the current position. Other values set besides these two make Error of motion function block On and cause “0x1114”
in ErrorID.
(5) When this motion function block is executed, the sub axis accelerates/decelerates at a speed suitable for the gear ratio and
synchronizes with the main axis.
(6) If this motion function block is aborted by another command (BufferMode=0 of newly executed command), the cam operation
is stopped, and the CommandAborted output is on.
(7) If another command is executed by Buffered while this motion function block is being executed (BufferMode=1~5 of newly
executed command), the status of gear operation (InGear phase) is terminated, and then the newly executed command is run
subsequently. InGear / Busy / Active / CommandAborted / Error output of this function block are all Off.
(8) The serve axis is in 'SynchronizedMotion' while this motion function block is running.

(9) The changed parameters can be applied when ContinuousUpdate input is On.
Only RatioNumerator, RatioDenominator, Acceleration, Deceleration input can be updated. (However, in case of InGear=On
case, RatioNumerator, RatioDenominator input can be updated)
(8) Example program
This example shows the operation of 2–axis up to 50,000,000 when moving 1-axis (main-axis) to 100,000,000 after executing
MC_GearIn command on axis 2(sub-axis) at the current position of 0.

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(a) Function block setting

(b) Timing diagram

Axis1 position

Axis2 position

Axis2 veloctiy Axis1 velocity

Axis2 velocity

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6.4.4 Gear operation Disable (MC_GearOut)

Motion Function Block

MC_GearOut
BOOL Execute Done BOOL
UINT Slave Slave UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Specify the sequential operation setting of motion function block.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block immediately disengages gear operation running in the spindle.
(2) If motion function block of which BufferMode is Aborting in the spindle where cam operation is running, gear operation is
automatically disengaged and the relevant motion function block is executed. If gear operation abort (MC_GearOut) motion
function block is only to be executed, the relevant axis performs operation to maintain the speed at the time when gear
operation is disengaged. If you want to completely stop the serve axis, use stop (MC_Halt) or immediate stop (MC_Stop)
motion function block.

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(3) Example program

After the execution of MC Gearln command in sub-axis at the current position of 0, ContinuousUpdate of main-axis is set to 1,
and then the velocity is gradually changed (1,000,000 2,000,000 3,000,000). This examples show the operation to
ensure that the velocity of sub-axis is no longer changed (b) by executing MC_GearOut command when the velocity of main-
axis is 2,000,000.
(a) Function block setting

(b) Timing diagram

Axis2 velocity

Axis1 velocity Red: Axis1 position

Blue: Axis2 position

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6.4.5 Gearing by specifying the position (MC_GearInPos)

Motion Function Block

Input-Output
UINT Master Set main axis ( refer toSee 6.2.1 Setting Range by Product)
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
INT RatioNumerator Specify the numerator of gear ratio. (-32768~32767)
UINT RatioDenominator Specify the denominator of gear ratio. (0~65535)
Select the standard of the main axis value to be synchronized.
UINT MasterValueSource 0(mcSetValue): Synchronize in the target position of the main axis.
1(mcActualValue): Synchronize in the current position of the main axis.
LREAL MasterSyncPosition Specify the position of the main axis where gear operation starts.
LREAL SlaveSyncPosition Specify the position of the spindle where gear operation starts.
LREAL SyncMode Unused
LREAL MasterStartDistance Specify the distance of the main axis where synchronization starts.
Specify the maximum speed of the spindle at the beginning of synchronization.
LREAL Velocity
[u/s]
Specify the maximum acceleration of the spindle at the beginning of
LREAL Acceleration
synchronization. [u/s2]
Specify the maximum deceleration of the spindle at the beginning of
LREAL Deceleration
synchronization. [u/s2]
LREAL Jerk Unused
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)

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Output
Indicate that gear operation is normally being fulfilled as the specified gear ratio is
BOOL InSync
applied.
BOOL StartSync Indicate synchronization is starting.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is an operation to synchronize the speed of the main axis and the spindle in the set position depending
on gear ratio which is set in the specific position.
(2) Giving gear operation abort (MC_GearOut) commands to the spindle or operation of other motion function block allow stopping
gear operation.
(3) RatioNumerator and RatioDenominator set the numerator and denominator of gear ratio to be applied to the spindle respectively.
If the numerator is set to negative number, the rotation direction of the spindle goes into reverse of the main axis.
(4) MasterValueSource selects the source of the main axis to be synchronized. If it is set to 0 (mcSetValue), synchronization is
performed by putting the target position of the main axis in the current motion control period as a source, and if it is set to
1(mcActualValue), synchronization is performed by putting the current position of the main axis got feedback from the current
motion control period as a source. Other values set besides these two cause "error 0x10D1”.
(5) Input the positions of the main axis and the spindle where gear operation is completed synchronization in MasterSyncPosition
input and SlaveSyncPosition input respectively. Input the distance where the spindle starts synchronization in
MasterStartDistance input, and the spindle starts synchronization at the position away the distance set in MasterStartDistance
input from the position set in MasterSyncPosition input.
(6) Once synchronization starts, StartSync output is On. When synchronization is completed and gear operation starts, StartSync
output is Off and InSync output is On.
(7) If this motion function block is aborted by another command (BufferMode=0 of newly executed command), the cam operation
is stopped, and the CommandAborted output is on.
(8) If another command is executed by Buffered while this motion function block is being executed (BufferMode=1~5 of newly
executed command), the status of gear operation (InGear phase) is terminated, and then the newly executed command is run
subsequently. InSync / Busy / Active / CommandAborted / Error output of this function block are all Off.
(9) The serve axis is in 'SynchronizedMotion' while this motion function block is running.

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(10) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only RatioNumerator, RatioDenominator, MasterSyncPosition, SlaveSyncPosition, MasterStartDistance, Velocity,
Acceleration, Deceleration input can be updated. (However, in case of InGear=On, RatioNumerator, RatioDenominator input
can be updated.
(9) Example program
This example program executes MC_GearInPos function block in which sub-axis starts synchronization from a position away
as long as the distance of MasterStartDistance (500,000) from MasterSyncPosition(1,000,000), and executes
MC_MoveRelative for relative movement to the 2,000,000 position. Once synchronization starts, StartSyncoutput is on (a) and
when the synchronization is completed and gear operation starts, StartSync output is off, and InSyncoutput is on.
(a) Function block setting

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(b) Timing diagram

%MX1
MC_MOVERELATIVE.Done
%MX2
MC_GEARINPOS.StartSync
MC_GEARINPOS.Insync
MC_GEARINPOS.Active
_AXxx_Synchronized(%JXxx.84 )
Axis1 velocity
Axis2 velocity

Axis2 position
Axis1 position

(a) (b)

(10) Application example program

This example program shows MC_GearInPos Active and InSync being off and gear operation being terminated when
MC_GearOut command is issued on 2-axis at (a) position during the motion shown in the basic example program. (Gear
operation termination can be verified by 1-axis that stops and 2-axis that continues to operate)
(a) Function block setting

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(b) Timing diagram

Axis1 velocity
Axis2 velocity

Axis1 position

Axis2 position

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6.4.6 Phase compensation (MC_Phasing)

Motion Function Block

MC_Phasing
BOOL Execute Done BOOL
UINT Master Master UINT
UINT Slave Slave UINT
LREAL PhaseShift Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
CoveredPhaseShift LREAL

Input-Output
UINT Master Set main axis ( refer toSee 6.2.1 Setting Range by Product)
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give a phase compensation command to the relevant axis in the rising Edge
LREAL PhaseShift Specify the main axis compensation amount.
LREAL Velocity Specify the operation speed. [u/s]
LREAL Acceleration Specify the acceleration. [u/s2]
LREAL Deceleration Specify the deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Output
BOOL Done Indicate whether to reach the specified phase compensation distance.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
Continuously output the compensation amount reflected while the phase
LREAL CoveredPhaseShift
compensation is running
(1) This motion function block performs phase correction of axis during synchronous control operation. Phase correction is performed
on the main-axis position referred to by sub-axis in synchronous control operation, to perform synchronous control operation of
the sub-axis to the corrected main-axis position.
(2) Once phase correction command is executed, the current position of the main-axis is phase-corrected using the phase shift
setting at PhaseShift- Velocity / Acceleration /Deceleration / Jerk.
(3) Phase correction does not change the actual command position or current position of the main-axis. Phase correction is
performed on the main-axis position referred to by sub-axis in synchronous control operation. In other words, the main-axis does
not know that phase correction is executed by the sub-axis.
(4) Phase correction of the same amount can be performed again from the current position by re-executing the function block
(Execute input is on) before the command is completed. In other words, phase shift is a relative value from the execution point.
(5) After executing phase correction command, when the phase shift is reached, Done output is on.

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6.4.7 All axis Servo On/Off (MC_PowerAll)

Motion Function Block

MC_PowerAll
BOOL Enable Status BOOL
Vaild BOOL
Error BOOL
ErrorID WORD

Input
BOOL Enable Servo motor of the all axis is servo On while input is activated.
Output
BOOL Status Indicate the power permission status of the all axis.
Indicate the validity of motion function block output.
BOOL Valid
(same with Status output here)
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give servo On/Off command to the all axis.
(2) When the enable input is changed from Off to On, the servo on command is issued to the servo ready axis among all axes, and
when the enable input is changed from On to Off, the servo off command is issued.
(3) “Error 0x0E90” occurs when there is an axis that has failed to turn servo on/off among configuration axes.
(4) If servo On command is executed when the axis is in 'Disable' state, the axis state is 'StandStill', and failure in servo On brings
'ErrorStop' state.

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6.4.8 All axis Homing (MC_HomeAll)

Motion Function Block

MC_HomeAll
BOOL Execute Done BOOL
LREAL Position Busy BOOL
UINT BufferMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Input
BOOL Execute Start the homing operation in rising Edge.
Specify the absolute position of axis when reference signal is detected. (When the
LREAL Position command position value is converted to a pulse, it is set within the range of -
2147483648 to 2147483647.)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a homing command to the all axis.
(2) Homing method is operated as specified in the operation parameter of the each axis in advance.
(3) As for Position input, absolute position of axis is specified when Reference Signal is detected or homing is completed.
(4) While this motion function block is running, the axis is 'Homing' state, and when the command is completed, it is switched to
'Standstill'.
(5) “Error 0x0E91” occurs when there is an axis that has failed to turn homing among configuration axes.
(5) Unlike the MC_Home command, even if the input parameter value is changed before the command is finished and the function
block is re-executed (Execute input is On), it is not updated unlike the MC_Home command.

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6.4.9 All axis Expansion Homing (LS_HomeAll)

Motion Function Block

LS_HomeAll
BOOL Execute Done BOOL
LREAL Position Busy BOOL
SINT HomingMethod Active BOOL
LREAL SwitchSearchSpeed CommandAborted BOOL
LREAL ZeroSearchSpeed Error BOOL
LREAL HomingAcc ErrorID WORD
LREAL HomeOffset
UINT DoneBehavior
UINT BufferMode

Input
BOOL Execute Start the homing operation in rising Edge.
Specify the absolute position of axis when reference signal is detected. (When the
LREAL Position command position value is converted to a pulse, it is set within the range of -
2147483648 to 2147483647.)
SINT HomingMethod Set the homing method (0x6098)
LREAL SwitchSearchSpeed Set the switch search speed (0x6099:1) when returning to the homing.
LREAL ZeroSearchSpeed Set the zero search speed (0x6099:2) when returning to the homing.
LREAL HomingAcc Set acceleration/deceleration (0x609A) when returning to homing.
LREAL HomeOffset Set Offest (0x607C) when returning to homing.
Set the movement (0x201E) after homing is completed.
UINT DoneBehavior (Used by drives other than our own L7N, the value has no effect on third-party
drives)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a expansion homing command to the all axis.
(2) The homing method operates as set in the function block. (The homing method may be different for each drive, so please refer
to the user manual of the drive you are using. When using our XDL-N series servo drive, please refer to 8.1 Origin
Determination)
(3) As for Position input, absolute position of axis is specified when Reference Signal is detected or homing is completed.
(4) While this motion function block is running, the axis is 'Homing' state, and when the command is completed, it is switched to
'Standstill'.
(5) “Error 0x0E92” occurs when there is an axis that has failed to turn homing among configuration axes.
(6) Unlike the LS_Home command, even if the input parameter value is changed before the command is finished and the function
block is re-executed (Execute input is On), it is not updated unlike the MC_Home command.

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(7) The input range for SwitchSearchSpeed, ZeroSearchSpeed, and HomingAcc is 0 ≤ Parameter ≤ 1073741824 in pulse units,
and the input range for HomeOffset is -2147483648≤ Parameter ≤2147483647 in pulse units. If a value is input in a unit other
than pulse unit, it is converted to pulse unit and checked if the value is out of range, and an error occurs if it is out of range.
(8) In the case of DoneBehavior, this is a function to set the movement method after homing is completed. It is used for drives
other than our own L7N, and the value set in the function block does not affect when a third-party drive is used.
0: After homing is completed, the motor does not rotate and the Home Offset value becomes Zero Position.
1: After homing is completed, the motor moves as much as the Home Offset value, and it becomes the Zero Position at the
position where the movement is completed.

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6.4.10 All axis Stop immediately (MC_StopAll)

Motion Function Block

MC_StopAll
BOOL Execute Done BOOL
LREAL Deceleration Busy BOOL
LREAL Jerk CommandAborted BOOL
Error BOOL
ErrorID WORD

Input
BOOL Execute Give immediate stop command to the relevant axis in the rising Edge.
LREAL Deceleration Specify the deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Output
BOOL Done Indicate that the speed of the relevant axis reaches 0.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a Emergency Stop command to the all axis.
(2) When all axis execute immediate stop (MC_StopAll) motion function block, the existing motion function block being executed in
the all axis is stopped, All the axis state changed to 'Stopping'. When the relevant axis is in 'Stopping’ state, other motion function
block cannot be executed in the relevant axis until the stopping is completed (until the Done output is activated).
(3) CommandAborted output indicates that the current motion function block is interrupted while it was executed. Other motion
function block cannot interrupt immediate stop (MC_StopAll) motion function block while all axis execute immediate stop
(MC_StopAll) motion function block is running, therefore, CommandAborted output is On in general when the power of servo is
blocked or servo Off command is executed.
(4) If Execute input is On or the speed of axis is not 0, the axis is in 'Stopping' state, and when Done output is On and Execute input
is Off, it is switched to 'Standstill' state.
(5) “Error 0x0E93” occurs when there is an axis that has failed to immediate stop among configuration axes.
(5) Unlike the MC_Home command, even if the input parameter value is changed before the command is finished and the function
block is re-executed (Execute input is On), it is not updated unlike the MC_Stop command.

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6.4.11 All axis Stop (MC_HaltAll)

Motion Function Block

MC_HaltAll
BOOL Execute Done BOOL
LREAL Deceleration Busy BOOL
LREAL Jerk Active BOOL
UINT BufferMode CommandAborted BOOL
Error BOOL
ErrorID WORD

Input
BOOL Execute Give stop command to the relevant axis in the rising Edge.
LREAL Deceleration Specify deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL Done Indicate that the speed of the relevant axis reaches 0.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a stop command to the all axis.
(2) The axis is 'DiscreteMotion' state while this motion function block is running, and when the speed of the relevant axis is 0, ‘Done’
output is On and changed to 'Standstill' state.
(3) BufferMode can be set like the MC_Halt command, and if there is at least one axis whose stop command (MC_Halt) is
interrupted by another motion function block, it is displayed as Error.
(4) “Error 0x0E94” occurs when there is an axis that has failed to stop among configuration axes.
(3) Unlike the MC_Halt command, even if the input parameter value is changed before the command is finished and the function
block is re-executed (Execute input is On), it is not updated unlike the MC_Stop command.

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6.4.12 Reset All axis error 2(MC_Reset2All)

Motion Function Block

MC_Reset2All
BOOL Execute Done BOOL
UINT ErrorType Busy BOOL
Error BOOL
ErrorID WORD

Input
BOOL Execute Reset the axis error in the rising Edge of input.
The types of error to be reset (0: Axis error, 1: Common error, 2: Axis error and
UINT ErrorType
Common error)
Output
BOOL Done Indicates whether the axis error was successfully reset
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to reset the error of the all axis. When setting ErrorType to '0' and executing motion function block in
case the axis is in ' ErrorStop' state, every axis error is reset and the axis state is switched to 'StandStill' or 'Disabled' state.
(2) If ErrorType is set to ‘1’ and motion function block is executed, Common error occurred in the relevant module is reset. If ErrorType
is set to ‘2’ and motion function block is executed, errors and common errors occurring in the set axis are reset.
(3) Motion function block is executed in the rising Edge of Execute input.
(4) “Error 0x0E95” occurs when there is an axis that has failed to error reset among configuration axes.

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6.4.13 All axis Setting the current position (MC_SetPositionAll)

Motion Function Block

MC_SetPositionAll
BOOL Execute Done BOOL
LREAL Position Busy BOOL
BOOL Relative CommandAborted BOOL
UINT ExcutionMode Error BOOL
ErrorID WORD

Input
BOOL Execute Specify the current position of the relevant axis in the rising Edge.
LREAL Position Specify the position.
BOOL Relative 0: Position value=Absolute position, 1: Position value=Relative position
0: Immediately applied the position value,
UINT ExecutionMode
1: Applied at the same point with ‘Buffered’ of Buffermode
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to set the current position of the all axis.
(2) Specify the position in Position input. When executing motion function block, if Relative input is Off, the position of the relevant
axis is replaced by the value of Position input, and if Relative input is On, the value of Position input is added to the current
position of the relevant axis.
(3) “Error 0x0E96” occurs when there is an axis that has failed to turn current position setting among configuration axes.
(4) ExecutionMode input specifies the setting point. 0 means to be set immediately after motion function block, and 1 means to be
set at the same point with ‘Buffered’ in sequential operation setting. If a value that cannot be set is set, “Error 0x101B” occurs
on the relevant axis.
0 (mcImmediately): Change the parameter value immediately after executing function block (rising Edge in Execute input). If
the relevant axis is in running, operation can be affected.
1 (mcQueued): Changed at the same point with ‘Buffered’ in Buffermode. (Refer to 6.1.4 BufferMode input)

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6.4.14 Expansion Gear operation (MC_GearInEx)

Motion Function Block

MC_GearInEx
BOOL Execute InGear BOOL
UINT Master Master UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
DINT RatioNumerator Active BOOL
UDINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
UINT Master Set main axis ( refer toSee 6.2.1 Setting Range by Product)
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate
(Refer to 6.1.5 Changes in Parameters during Execution of Motion Function Block)
DINT RatioNumerator Specify the numerator of gear ratio. (-2147483648 ~ 2147483647)
UDINT RatioDenominator Specify the denominator of gear ratio. (0 ~ 4294967295)
Select data of the main axis to be synchronized.
UINT MasterValueSource 0: Synchronize in the command position of the main axis.
1: Synchronize in the current position of the main axis.
LREAL Acceleration Specify the acceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Deceleration Specify the deceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
BOOL InGear Indicate that gear operation is running by applying gear ration.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) In this motion function block, RatioNumerator input and RatioDenominator input are expanded to DINT and UDINT respectively.
(2) The rest of the settings and functions are the same as those of the MC_GearIn function block. Please refer to the description of
the MC_GearIn function block.

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6.4.15 Extended electrical gearing by specifying the position (MC_GearInPosEx)

Motion Function Block

MC_GearInPosEx
BOOL Execute InSync BOOL
UINT Master Master UINT
UINT Slave Slave UINT
DINT RatioNumerator StartSync BOOL
UDINT RatioDenominator Busy BOOL
UINT MasterValueSource Active BOOL
LREAL MasterSyncPosition CommandAborted BOOL
LREAL SlaveSyncPosition Error BOOL
UINT SyncMode ErrorID WORD
LREAL MasterStartDistance
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
UINT Master Set main axis ( refer toSee 6.2.1 Setting Range by Product)
UINT Slave Set the serve axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
DINT RatioNumerator Specify the numerator of gear ratio. (-2147483648 ~ 2147483647)
UDINT RatioDenominator Specify the denominator of gear ratio. (0 ~ 4294967295)
Select the standard of the main axis value to be synchronized.
UINT MasterValueSource 0(mcSetValue): Synchronize in the target position of the main axis.
1(mcActualValue): Synchronize in the current position of the main axis.
LREAL MasterSyncPosition Specify the position of the main axis where gear operation starts.
LREAL SlaveSyncPosition Specify the position of the spindle where gear operation starts.
LREAL SyncMode Unused
LREAL MasterStartDistance Specify the distance of the main axis where synchronization starts.
Specify the maximum speed of the spindle at the beginning of synchronization.
LREAL Velocity
[u/s]
Specify the maximum acceleration of the spindle at the beginning of
LREAL Acceleration
synchronization. [u/s2]
Specify the maximum deceleration of the spindle at the beginning of
LREAL Deceleration
synchronization. [u/s2]
LREAL Jerk Unused
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)

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Output
Indicate that gear operation is normally being fulfilled as the specified gear ratio is
BOOL InSync
applied.
BOOL StartSync Indicate synchronization is starting.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) In this motion function block, RatioNumerator input and RatioDenominator input are expanded to DINT and UDINT
respectively.
(2) The rest of the settings and functions are the same as those of the MC_GearInPos function block. Please refer to the
description of the MC_GearInPos function block.

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6.4.16 Link operation (LS_MoveLink)

Motion Function Block

LS_MoveLink
BOOL Execute Done BOOL
UINT Master Master UINT
UINT Slave Slave UINT
DINT RatioNumber StartSync BOOL
UDINT RatioDenominator InSync BOOL
UINT MasterValueSource Busy BOOL
LREAL MasterStartDistance Active BOOL
LREAL MasterSyncPosition CommandAborted BOOL
LREAL MasterEndDistance Error BOOL
LREAL SlaveSyncPosition ErrorID WORD
LREAL SlaveEndPosition
LREAL SlaveWailtPosition
UINT BufferMode

Input-Output
Set main axis (1~32: Real/Virtual Axes,33~36: Virtual Axes,
UINT Master
1001~1002: Encoder)
UINT Slave Set the serve axis. (1~32: Real/Virtual Axes,33~36: Virtual Axes)
Input
BOOL Execute Give an link operation command to the relevant axis in the rising edge
DINT RatioNumerator Specifies the numerator value of the gear ratio.
UDINT RatioDenominator Specifies the denominator value of the gear ratio.
Select the standard of the main axis value to be synchronized.
0(mcSetValue): Synchronize in the target position of the main axis.
UINT MasterValueSource
1(mcActualValue): Synchronize in the current position of the main
axis.
Specify the move distance of the main axis where synchronization
LREAL MasterStartDistance
starts.
LREAL MasterSyncPosition Specify the position of the main axis where sync. operation starts.
Specifies the movement distance of the main axis of operation to stop
synchronization.
LREAL MasterEndDistance
(Movement distance of main axis from SlaveEndPosition to
SlaveWaitPosition)
LREAL SlaveSyncPosition Specify the position of the main axis where sync. operation starts.
LREAL SlaveEndPosition Specify the position of the main axis where sync. operation end.
LREAL SlaveWaitPosition Specifies the position where the slave axis waits.
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode input)
Output
Indicate that gear operation is normally being fulfilled as the specified
BOOL Done
gear ratio is applied.
BOOL StartSync Indicates that tracking operation is being performed.
Indicate that gear operation is normally being fulfilled as the specified
BOOL InSync
gear ratio is applied.

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BOOL Busy Indicate that the execution of motion function block is not completed.
Indicate that the current motion function block is controlling the relevant
BOOL Active
axis.
Indicate that the current motion function block is interrupted while it is
BOOL CommandAborted
running.
BOOL Error Indicates whether an error occurs or not.
Output the number of error occurred while motion function block is
WORD ErrorID
running.

(5) This motion function block is an operation to synchronize the speed of the main axis and the spindle in the set position depending
on gear ratio which is set in the specific position.
(6) In link operation, the main axis must always operate in the forward direction.
(7) Link operation consists of three operations: catch operation, gear operation, and release operation.
(8) Link operation is terminated when the subordinate axis reaches SlaveWaitPosition. To stop the link operation, it is necessary to
give a stop (MC_Stop) command to the subordinate axis or operate another motion function block.
(9) RatioNumerator and RatioDenominator set the numerator and denominator of gear ratio to be applied to the spindle respectively.
If the numerator is set to negative number, the rotation direction of the spindle goes into reverse of the main axis. If the numerator
value is set to 0, “Error 0x1091” occurs.
(10) “Error 0x1192” occurs when the SlaveEndPosition value is set smaller than the SlaveSyncPosition when the gear ratio set by the
RatioNumerator and RatioDenominator values is positive.
(11) MasterValueSource selects the source of the main axis to be synchronized. If it is set to 0 (mcSetValue), synchronization is
performed by putting the target position of the main axis in the current motion control period as a source, and if it is set to
1(mcActualValue), synchronization is performed by putting the current position of the main axis got feedback from the current
motion control period as a source. Other values set besides these two cause "error 0x1193”.
(11) In the MasterSyncPosition input and SlaveSyncPosition input, input the positions of the main and sub-axis, respectively, to
complete the following operation and start the gear operation. In the MasterSyncPosition input and SlaveSyncPosition input,
input the positions of the main and sub-axis, respectively, to complete the following operation and start the gear operation.
(12) When gear operation starts and the main axis reaches the SlaveEndPosition by the main axis, the gear operation ends and the
main axis moves as much as the distance set in the MasterEndDistance input, while the subordinate axis performs the release
action to reach the SlaveWaitPositon. When the release operation is completed, the link operation is terminated.
(13) The MasterStartDistance value should always be set to a value greater than 0. If the MasterStartDistance value is set to less
than 0, “Error 0x1195” occurs.
(14) If SlaveEndPosition and SlaveWaitPosition are set identically, release operation is performed before reaching SlaveEndPosition.
The position of the main axis where the release operation starts is the position obtained by subtracting the movement distance
set in the MasterEndDistance input from the position of the main axis corresponding to SlaveEndPosition.
(15) The MasterEndDistance value should always be set to a value greater than 0. If the MasterEndDistance value is set to less than
0, “Error 0x1196” occurs.
(16) Once tracking operation starts, StartSync output is On. When the tracking operation is completed and gear operation starts,
the StartSync output is turned off and the InSync output is turned on. When the release operation starts, InSync output is Off.
When the position of the sub-axis reaches the SlaveWaitPosition and the release operation ends, the Done output is On.
(17) If this motion function block is aborted by another command (BufferMode=0 of newly executed command), the cam operation
is stopped, and the CommandAborted output is on.
(18) If another command is executed by Buffered while this motion function block is being executed (BufferMode=1~5 of newly
executed command), the status of gear operation (InGear phase) is terminated, and then the newly executed command is run
subsequently. InSync / Busy / Active / CommandAborted / Error output of this function block are all Off.
(19) The serve axis is in 'SynchronizedMotion' while this motion function block is running.

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Execute

Start
Sync

InSync

Done

MasterEndDistance
Master
Position
MasterSyncPosition
MasterStartDistance
MasterStartPosition
=MasterSyncPosition-MasterStartDistance

SlaveEndPosition

Slave
Position
SlaveSyncPosition

SlaveWaitPosition

Catch Release
GearOperation
Operation Operation

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6.5 Group Motion Function Block

6.5.1 Add Group axis (MC_AddAxisToGroup)

Motion Function Block

MC_AddAxisToGroup
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT Axis Axis UINT
UINT IdentInGroup Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group where the relevant axis is added. (1 ~ 16: 1Group ~ 16 Group)
Set the axis to be added to the relevant group. ( refer toSee 6.2.1 Setting Range
UINT Axis
by Product)
Input
BOOL Execute Give group axis addition command to the relevant axis in the rising Edge.
UINT IdentInGroup Set the ID of the relevant axis to be used in the relevant group. (1 ~ 10)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block adds Axis specified axis to the axis group specified in AxesGroup input.
(2) ID in the axis group specified to IdentInGroup must have unique value for each axis. (ID of each axis must be different.)
Maximum 10 axes can be included in each axis group, axis ID can be specified in the range of 1~10. If the specified axis
number is outside the range, “error 0x0006” occurs, and if numbers in the axis group overlap, “error 0x2051” occurs.
(3) Axis group setting can be performed in the same way at XG5000 axis group parameter setting.

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6.5.2 Remove Group axis (MC_RemoveAxisFromGroup)

Motion Function Block

MC_RemoveAxisFromGroup
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT IdentInGroup Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group where the relevant axis is removed. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group axis exclusion command to the relevant group in the rising Edge.
Set the axis number in the relevant group to be removed from the relevant group.
UINT IdentInGroup
(1 ~ 10)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block removes the axis which is specified to IdentInGroup in the axis group specified in AxesGroup input.
(2) If the execution of group axis exclusion is tried when the axis group is not in GroupDisabled, GroupStandBy, and
GroupErrorStop state, "error 0x2003 or 0x2004 or 0x2005" occurs and the axis is not removed. In other words, the axis cannot
be removed when the axis group does not completely stop.

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6.5.3 Removes all axes from the group (MC_UngroupAllAxes)

Motion Function Block

MC_UngroupAllAxes
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group where every axis is to be removed. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give MC_UngroupAllAxes command to the relevant group in the rising Edge.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block removes every axis which belongs to the axis group specified in AxesGroup input.
(2) If this motion function block is executed when the axis group is not in GroupDisabled, GroupStandBy, and GroupErrorStop
state, "error 0x2003 or 0x2004 or 0x2005" occurs and the axis is not removed. In other words, the axis cannot be removed
when the axis group does not completely stop.
(3) When the axis which belongs to the group is successfully removed, the relevant group is switched to GroupDisabled state.

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6.5.4 Group Enable (MC_GroupEnable)

Motion Function Block

MC_GroupEnable
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group to be activated. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group activation command to the relevant group in the rising Edge.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to activate the axis group specified in AxesGroup input.
(2) When giving this command to the axis group in GroupDisable state, the relevant axis group is switched to GroupStandby state.
(3) This motion function block does not affect the power state of each axis in the relevant group.

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6.5.5 Group Disable (MC_GroupDisable)

Motion Function Block

MC_GroupDisable
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group to be deactivated. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group disablement command to the relevant group in the rising Edge.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to deactivate the axis group specified in AxesGroup input.
(2) The axis group which executes this motion function block is switched to GroupDisabled.
(3) This motion function block does not affect the power state of each axis in the relevant group.

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6.5.6 Performs the search home of all axes in the group (MC_GroupHome)

Motion Function Block

MC_GroupHome
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[0..3] OF LREAL[ ] Position Busy BOOL
UINT BufferMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group returning to home. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group homing command to the relevant group in the rising Edge.
LREAL[ ] Position Specify the absolute position of each axis when reference signal is detected.
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give homing command to the axis group specified in AxesGroup input.
(2) Homing method is operated as specified in servo parameter of the relevant axis in advance.
(3) In Position input, specify the absolute position to the array to be set when homing is completed or Reference Signal is detected.
Values in the array and the axis in the group correspond in the order of [①, ②, … ⑨, ⑩]. (①~⑩ are the axis ID in the axis
group)
(4) The axis group is in 'GroupHoming' state while this motion function block is running, and it is switched to 'GroupStandby' state
when motion function block is completed.
(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Position input can be updated.

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6.5.7 Sets the position of all axes in the group without moving (MC_GroupSetPosition)

Motion Function Block

MC_GroupSetPosition
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[0..3] OF LREAL Position Busy BOOL
BOOL Relative Active BOOL
UINT ExecutionMode CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Select the group to set the current position. (1 ~ 16: 1Group ~ 16 Group)
Input
Give group current position setting command to the relevant group in the rising
BOOL Execute
Edge.
LREAL[ ] Position Specify the position.
BOOL Relative 0: Position value=Absolute position, 1:Position value=Incremental position
0: Immediately applied the position value,
UINT ExecutionMode
1: Applied at the same point with ‘Buffered’ of Buffermode
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block sets the current position of the relevant axis group.
(2) Specify the position of each axis in the group to the array. When executing this motion function block, if Relative input is Off,
the position of the relevant axis is replaced by the Position input value, and if Relative input is On, the Position input value is
added to the current position of the relevant axis. Values in the array and the axis in the group correspond in the order of [①,
②, … ⑨, ⑩]. (①~⑩ are the axis ID in the axis group)
(3) ExecutionMode input specifies the setting point. When the input is 0, setting is performed upon executing the command.
When the input is 1, setting is performed at the same time as "Buffered" at the sequential operation. The value unable to be set
causes "error 0x201B”.
0 (mcImmediately): Change the value of parameter immediately after the execution of motion function block (rising Edge in
Execute input). If the relevant axis is in running, operation can be affected.
1 (mcQueued): Changed at the same point with ‘Buffered’ in Buffermode. (Refer to 6.1.4.BufferMode input).

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(4) Example program

This example shows the change of the current position to position values (10,000,000/20,000,000/30,000,000) set in the
position variables when executing MC_GroupSetPosition function block at the status where 1-axis, 2-axis and 3-axis are set
as a single group.
(a) Function block setting

(b) Timing diagram

Axis3 position

Axis2 position

Axis1 position

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6.5.8 Stop the group immediately (MC_GroupStop)

Motion Function Block

MC_GroupStop
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL Deceleration Busy BOOL
LREAL Jerk Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group to stop immediately. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group immediate stop command to the relevant group in the rising Edge.
LREAL Deceleration Specify the deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give an emergency stop command to the relevant axis group.
(2) The relevant axis group moves on the route which it was following until it completely stops.
(3) When executing group immediate stop (MC_GroupStop) motion function block, motion function block which the relevant axis
group is performing is interrupted, and the axis is changed to 'GroupStopping'. When the relevant axis group is in
‘GroupStopping’ state, other motion function block cannot be given to the relevant axis until the stop is completed (until Done
output is On).
(4) CommandAborted output indicates that the current motion function block is interrupted while it was executed. Because other
motion function block cannot interrupt group immediate stop (MC_GroupStop) command while group immediate stop
(MC_GroupStop) command is being executed, CommandAborted output is On when the power of servo is cut, servo Off
command is executed, or servo connection is disconnected.
(5) If Execute input is On or the speed of the axis is not 0, the axis is in ' GroupStopping' state, and if Done output is On and
Execute input is Off, the axis is switched to ' GroupStandBy' state.
(6) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Deceleration, Jerk input can be updated.

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6.5.9 Stop the group (MC_GroupHalt)

Motion Function Block

MC_GroupHalt
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL Deceleration Busy BOOL
LREAL Jerk Active BOOL
UINT BufferMode CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group to stop. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group stop command to the relevant group in the rising Edge.
LREAL Deceleration Specify the deceleration in time of stop. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a stop command to the relevant axis.
(2) The relevant axis group moves on the route which it was following until it completely stops.
(3) The axis is in 'GroupMoving' state while this motion function block is running, and if the axis group completely stops, 'Done'
output is On and the group state is changed to 'GroupStandBy' state.
(4) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Deceleration and Jerk input can be updated

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6.5.10 Reset the group error (MC_GroupReset)

Motion Function Block

MC_GroupReset
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group to do error reset. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give group error reset command to the relevant group in the rising Edge.
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to reset the error of the relevant axis group. When the relevant axis is in 'GroupErrorStop', the
execution of motion function block resets the error occurred in the current relevant axis and switches the axis group to
'GroupStandBy' state.
(2) When executing this motion function block, every error occurred in each axis in the group is reset. (This has the same effect
with when executing the axis error reset (MC_Reset) command in each axis.)

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6.5.11 Absolute position linear Interpolation operation (MC_MoveLinearAbsolute)

Motion Function Block

MC_MoveLinearAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[0..3] OF LREAL Position Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to perform absolute position linear interpolation operation. (1 ~ 16:
UINT AxesGroup
1Group ~ 16 Group)
Input
Give absolute position linear interpolation operation command to the relevant group
BOOL Execute
in the rising Edge.
LREAL[ ] Position Specify the target position of each axis.
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Specify the route change mode of group operation.
UINT TransitionMode
(Refer to to 6.1.6.TransitionMode)
Specify the parameter of the route change setting of group operation.
LREAL TransitionParameter
(Refer to to 6.1.6.TransitionMode)
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give an absolute position linear interpolation command to the axis group specified in AxesGroup
input.
(2) When this motion function block is executed, interpolation control is performed in a linear path from the current position to the
target position of each axis, and the moving direction is decided by the starting point and the target point of each axis.
Beginning position < Target position: Forward direction operation
Beginning position > Target position: Reverse direction operation
(3) In Position input, specify the target position of each axis in the group as matrix. The values in the array and the axis in the
group correspond in the order of[①, ②, … ⑨, ⑩]. (①~⑩ are the axis ID in the axis group)

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(4) Specify the speed, acceleration, deceleration, and the change rate of acceleration/deceleration of interpolation route in Velocity,
Acceleration, Deceleration, and Jerk inputs respectively.
(5) Velocity is to set the interpolation speed of the axis group, and it indicates the integrated speed of each axis.
The operation speed of each configuration axis is calculated as follows.
Interpolation speed (F) = Target speed specified in the Velocity

2 2 2 2
Interpolation movement amount (S) = S1 + S2 + ... + S3 + S4

Configuration axis 1 movement amount (S1 )

Configuration axis 1 speed (V1 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

Configuration axis 2 movement amount (S 2 )

Configuration axis 2 speed (V2 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

Configuration axis 3 movement amount (S 3 )

Configuration axis 3 speed (V3 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

Configuration axis 4 movement amount (S 4 )

Configuration axis 4 speed (V4 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

(6) Refer to chapter 8.2.6 linear interpolation control part in motion controller’s manual for more details.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied. Only Velocity, Acceleration, Deceleration, Jerk, Position input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example shows the linear interpolation to the target position (10000, 1000) when the current command position is (1000,
4000).
(a) Function block setting

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(Y axis)
Starting
4000 position

Y axis movement value

(1000-4000=-3000)

Goal
1000 Position
X axis
0
1000 5000 10000

X axis movement value (10000-1000=9000)

(b) Timing diagram

Axis X velocity
Axis Y position Axis Y position

Axis Y velocity

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(c) XY graph

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6.5.12 Incremental position linear Interpolation operation (MC_MoveLinearRelative)

Motion Function Block

MC_MoveLinearRelative
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL[ ] Distance Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do relative position linear interpolation operation. (1 ~ 16: 1Group ~
UINT AxesGroup
16 Group)
Input
Give relative position linear interpolation operation command to the relevant group
BOOL Execute
in the rising Edge.
LREAL[ ] Distance Set the target distance of each axis.
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Specify the route change mode of group operation.
UINT TransitionMode
(Refer to 10.1.6.TransitionMode)
Specify the parameter of the route change setting of group operation.
LREAL TransitionParameter
(Refer to 10.1.6.TransitionMode)
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a relative position linear interpolation command to the axis group specified in AxesGroup
input.
(2) When this motion function block is executed, interpolation control performed in a linear path from the current position to the
target position of each axis, and the moving direction is decided by the sign of the target distance of each axis.
Target distance > 0: Forward direction operation
Target distance < 0: Reverse direction operation
(3) In Distance input, specify the target distance of each axis in the group as array. The specified array and the axis in the group
correspond in the order of specified axis ID [ID1 target distance, ID2 target distance, …].

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(4) Set the speed, acceleration, deceleration, and the change rate of acceleration/deceleration of interpolation route in Velocity,
Acceleration, Deceleration, and Jerk inputs respectively.
(5) Velocity is to set the interpolation speed of the axis group, and it indicates the integrated speed of each axis.
The operation speed of each configuration axis is calculated as follows.
Interpolation speed (F) = Target speed specified in the Velocity

2 2 2 2
Interpolation movement amount (S) = S1 + S2 + ... + S3 + S4

Configuration axis 1 movement amount (S1 )

Configuration axis 1 speed (V1 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

Configuration axis 2 movement amount (S 2 )

Configuration axis 2 speed (V2 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

Configuration axis 3 movement amount (S 3 )

Configuration axis 3 speed (V3 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

Configuration axis 4 movement amount (S 4 )

Configuration axis 4 speed (V4 ) = Interpolation speed (F) ×
Interpolation movement amount (S)

(6)Refer to chapter 8.2.6 linear interpolation control part in motion controller’s manual for more details.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only Velocity, Acceleration, Deceleration, Jerk, Position input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example shows the linear interpolation to the target position (10000, 10000) by moving the target distance (X-axis: 9000,
Y-axis: -3000) when the current command position is (1000, 4000).
(a) Function block setting

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(Y axis)
Starting
4000 position

Y axis
movement value
(-3000) Linear
interpolation end
1000 position
(X axis)
0
1000 5000 10000

X axis movement value(9000)

(b) Timing diagram

Axis X velocity
Axis Y position Axis X position

Axis Y velocity

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(c) XY graph

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6.5.13 Absolute position circular Interpolation operation (MC_MoveCircularAbsolute)

Motion Function Block

MC_MoveCircularAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do absolute position circular interpolation operation. (1 ~ 16: 1Group
UINT AxesGroup
~ 16 Group)
Input
Give absolute position circular interpolation operation command to the relevant
BOOL Execute
group in the rising Edge.
UINT CirMode Circular interpolation method setting [0: Midpoint, 1: Central point, 2: Radius]
Specify the position of auxiliary point depending on the circular interpolation method
LREAL[ ] AuxPoint
in an absolute coordinate.
LREAL[ ] EndPoint Set the circular end point as an absolute coordinate.
Circular route selection
BOOL PathChoice
0: clockwise direction, 1: counter-clockwise direction
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give an absolute position circular interpolation command to the axis group specified in
AxesGroup input.

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(2) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary point
input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular interpolation is
operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise direction.
(3) Specify the absolute position of the auxiliary point to refer when doing circular interpolation of each axis in AuxPoint and
EndPoint inputs as array. The input arrangement and the axes of the group correspond to the designated axis IDs [ID1, ID2,
ID3, ∙∙∙ ], in that order. (The 3 LEAL type sized array should be entered in Position input as there are 3 axes which comprise
the group to give a circular interpolation operation command.)
(4) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, respectively.
(5) Set the circular interpolation method in CircMode input. The circular interpolation methods corresponding to CircMode values
are as follows.
(a) Circular Interpolation Using Midpoint Specification (CircMode = 0)
This method performs circular interpolation by starting operation at the start position, passing the designated midpoint, and
reaching the target position. In the figure below, the start position corresponds to the axes group coordinate at the start of
the command, the midpoint corresponds to the coordinate input for the AuxPoint, and the target position corresponds to
the absolute coordinate input for the EndPoint.

(b) Circular Interpolation Using Center Point Specification (CircMode = 1)

This method performs circular interpolation to the target position by starting operation at the current position, and following
a circular trajectory of which diameter corresponds to the distance to the designated center point. In the figure below, the
current position corresponds to the axes group coordinate at the start of the command, the center point corresponds to
the coordinate input for the AuxPoint, and the target position corresponds to the absolute coordinate input for the EndPoint.

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(c) Circular Interpolation using Radius Speciation (CircMode = 2)

This method performs circular interpolation to the target position by starting operation at the current position, and following
a circular trajectory with a designated radius from the current position to the target position. In the figure below, the current
position corresponds to the axes group coordinate at the start of the command, the radius corresponds to the X coordinate
input for the AuxPoint, and the target position corresponds to the absolute coordinate input for the EndPoint.

(6) Refer to chapter 8.2.7 linear interpolation control part in motion controller’s manual for more details.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example shows the circular interpolation to the target position (1000, 1000) by moving clock-wise after setting the center
point (2000,2000) specification method when the current command position is (1000, 1000).
(a) Function block setting

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(b) Timing diagram

Axis X position
Axis Y position

Axis X velocity

Axis Y velocity

(c) XY graph

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6.5.14 Incremental position circular Interpolation operation (MC_MoveCircularRelative)

Motion Function Block

MC_MoveCircularRelative
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
USINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do relative position circular interpolation operation. (1 ~ 16: 1Group
UINT AxesGroup
~ 16 Group)
Input
Give relative position circular interpolation operation command to the relevant group
BOOL Execute
in the rising Edge.
UINT CirMode Circular interpolation method setting [0: Midpoint, 1: Central point, 2: Radius]
Specify the position of auxiliary point depending on the circular interpolation method
LREAL[ ] AuxPoint
as the relative coordinate based on the starting point.
Specify the end point of circular arc as the relative coordinate based on the starting
LREAL[ ] EndPoint
point.
Circular route selection
BOOL PathChoice
0: clockwise direction, 1: counter-clockwise direction
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

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(1) This motion function block issues relative position circular interpolation command on the axes group designated by AxesGroup
input.
(2) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary point
input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular interpolation is
operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise direction.
(3) At AuxPoint and EndPoint input, designate the arrangement of the relative position of auxiliary points to refer to for circular
interpolation of each axis. The input arrangement and the axes of the group correspond to the designated axis IDs [ID1, ID2,
ID3, ∙∙∙ ], in that order. (The 3 LEAL type sized array should be entered in Position input as there are 3 axes which comprise
the group to give a circular interpolation operation command.)
(4) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, respectively.
(5) Set the circular interpolation method in CircMode input. The circular interpolation methods corresponding to CircMode values
are as follows.
(a) Circular interpolation of midpoint specifying method (BORDER, CircMode = 0) In this method, operation starts at the
current position and it does circular interpolation through the pecified position of the central point to the target position. In
the figure below, the current position corresponds to the axes group coordinate at the start of the command, the midpoint
corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative coordinate input
for the EndPoint.

(b) Circular interpolation of central point specifying method In this method, operation starts at the current position, and it does
circular interpolation to the target position along the circular path, which has a radius of the distance to the specified central
position. In the figure below, the current position corresponds to the axes group coordinate at the start of the command,
the center point corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative
coordinate input for the EndPoint.

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(c) Circular interpolation with radius designation form

In this method, operation starts at the current position, and it does circular interpolation to the target position along the
circular path which has a radius of the value specified in the radius. In the figure below, the current position corresponds
to the axes group coordinate at the start of the command, the diameter corresponds to the X coordinate input for the
AuxPoint, and the target position corresponds to the relative coordinate input for the EndPoint.

(6) Refer to chapter 8.2.7 linear interpolation control part in motion controller’s manual for more details.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example is to set the center point specification method when the current command position is (1000, 1000) (set the relative
position from the current position to the center point to set: 1000, 1000), and move clock-wise to perform circular interpolation
to the target position (set the relative position from the current position to the target position: 0, 0).
(a) Function block setting

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(b) Function block setting

Axis X position
Axis Y position

Axis X velocity

Axis Y velocity

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(c) XY graph

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6.5.15 Axis Group Servo On/Off (MC_GroupPower)

Motion Function Block

MC_GroupPower
BOOL Enable Status BOOL
UINT AxesGroup AxesGroup UINT
Vaild BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the group to do relative position circular interpolation operation. (1 ~ 16: 1Group
~ 16 Group)
Input
BOOL Enable Group servo motor of the relevant axis is servo On while input is activated.
Output
BOOL Status Indicate the power permission status of the Axis Group.
Indicate the validity of motion function block output.
BOOL Valid
(same with Status output here)
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give servo On/Off command to relevant axis group.
(2) When Enable input changes from Off to On, the Servo On command is given to the relevant axis group. When it changes from
On to Off, the Servo Off command is given to it.
(3) If servo On command is executed when the axis is in 'Disable' state, the axis state is 'StandStill', and failure in servo On brings
'ErrorStop' state.

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6.5.16 Read axis group parameter (LS_ReadGroupParameter)

Motion Function Block

LS_ReadGroupParameter
BOOL Enable Valid BOOL
UINT AxesGroup AxesGroup UINT
INT ParameterNumber Busy BOOL
Error BOOL
ErrorID WORD
Value LREAL

Input-Output
UINT AxesGroup Set the axis group to read parameters from. (1~16:1Group ~ 16Group)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
INT ParameterNumber Specify the number of parameter to read.
Output
BOOL Valid Indicate whether the output of the current motion function block is valid.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
Output the number of error occurred while motion function block is
WORD ErrorID
running.
LREAL Value Output the values of the parameters.

(1) This motion function block is to output parameter of the relevant axis group.
(2) The value of the relevant parameter is continuously output in Value while Enable input is On.
(3) ParameterGroup input specifies the parameter group number to read.
If the value is set outside the range, “error 0x2120” occurs.

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(4) The numbers of axis group parameter are as below.

No. Parameter Item Note OS*Note 2)
1 Configuration axis 01 0 : none, 1~36 -
2 Configuration axis 02 0 : none, 1~36 -
3 Configuration axis 03 0 : none, 1~36 -
4 Configuration axis 04 0 : none, 1~36 -
5 Configuration axis 05 0 : none, 1~36 -
6 Configuration axis 06 0 : none, 1~36 -
7 Configuration axis 07 0 : none, 1~36 -
8 Configuration axis 08 0 : none, 1~36 -
9 Configuration axis 09 0 : none, 1~36 -
Standard
10 Configuration axis 10 0 : none, 1~36 -
setting
11 Interpolation speed max LREAL Positive number(unit/s)
Coordinate system look 1 ~ 10
42 -
ahead settings
Coordinate output filter time 0 ~ 100(ms)
43 -
constant
Interpolation operation 0: Disable, 1: Able
45 -
blending angle limit
Interpolation operation 2 ~ 178 (deg)
46 -
blending allowable angle
0:none, 1:xyz, 2:Delta3, 3:Delta3R, 4:LinearDelta3, 5:LinearDelta3R,
12 Coordinate system -
6:T-Gantry, 7:T-GantryR
13 Coordinates parameter 1 0 or LREAL Positive number [mm] -
14 Coordinate Coordinates parameter 2 0 or LREAL Positive number [mm] -
15 setting Coordinates parameter 3 0 or LREAL Positive number [mm] -
16 Coordinates parameter 4 0 or LREAL Positive number [mm] -
17 Coordinates parameter 5 0 or LREAL Positive number [mm] -
18 Coordinates parameter 6 0 or LREAL Positive number [mm] -
19 X-axis offset Long real(LREAL)
20 Tool setting Y-axis offset Long real(LREAL)
21 Z-axis offset Long real(LREAL)
22 Work space type 0:Ractangle, 1:Cylinder, 2:Delta, 3:Sector
23 Workspace error check 0:disabled,1:enabled
24 Work space parameter1 Long real(LREAL)
25 Work space parameter2 Long real(LREAL)
26 Work space Work space parameter3 Long real(LREAL)
27 setting Work space parameter4 Long real(LREAL)
28 Work space parameter5 Long real(LREAL)
29 Work space parameter6 Long real(LREAL)
30 Work space parameter7 Long real(LREAL)
31 Work space parameter8 Long real(LREAL)
32 X-axis move Long real(LREAL)
33 Y-axis move Long real(LREAL)
34 PCS Setting Z-axis move Long real(LREAL)
35 X-axis rotation -360 ~ 360 (deg)
36 Y-axis rotation -360 ~ 360 (deg)

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No. Parameter Item Note OS*Note 2)

37 Z-axis rotation -360 ~ 360 (deg)
LREAL number (mm/sec), It should be less than or equal to XYZ high
38 XYZ low speed
Coordinate speed.
system jog LREAL number (deg/sec), It should be less than or equal to ABC high
39 ABC low speed
operation speed.
40 settings XYZ high speed LREAL number (mm/sec)
41 ABC high speed Long real (LREAL) (deg/sec)

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6.5.17 Write axis group parameter (LS_WriteGroupParameter)

Motion Function Block

LS_WriteGroupParameter
BOOL Execute Vaild BOOL
UINT AxesGroup AxesGroup UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExecutionMode ErrorID WORD

Input-Output
Set the axis group to give commands from. (1~16:1Group ~
UINT AxesGroup
16Group)
Input
At the rising edge, the corresponding parameter is reflected in the
BOOL Execute
axis group.
INT ParameterNumber Specify the number of parameter to write.
LREAL Value Specify the value of parameter to write.
UINT ExecutionMode Specify the time when parameter is written.
Output
BOOL Valid Indicate whether parameter is successfully written.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
Output the number of error occurred while motion function block is
WORD ErrorID
running.

(1) This motion function block is to write the value specified in parameter of the relevant axis group.
(2) The parameters will be written in the rising edge of the Execute input.
(3) ParameterNumber input specifies the number of the parameter to be written. The value unable to be set causes "error 0x2120”.
(4) Specify the value to write in parameter for Value input.
(5) In ExecutionMode, correct the time when parameter is written and the values below can be set. The value unable to be set
causes "error 0x2120”.
0 (mcImmediately): Change the parameter value immediately after executing function block (rising Edge in Execute input). If the
relevant axis is in running, operation can be affected.
1 (mcQueued): Changed at the same point with ‘Buffered’ in Buffermode. (6.1. 4. Refet to BufferMode)

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(6) The numbers of axis group parameter are as below.

No. Parameter Item Note OS*Note 2)
1 Configuration axis 01 0 : none, 1~36 -
2 Configuration axis 02 0 : none, 1~36 -
3 Configuration axis 03 0 : none, 1~36 -
4 Configuration axis 04 0 : none, 1~36 -
5 Configuration axis 05 0 : none, 1~36 -
6 Configuration axis 06 0 : none, 1~36 -
7 Configuration axis 07 0 : none, 1~36 -
8 Configuration axis 08 0 : none, 1~36 -
9 Configuration axis 09 0 : none, 1~36 -
Standard
10 Configuration axis 10 0 : none, 1~36 -
setting
11 Interpolation speed max LREAL Positive number(unit/s)
Coordinate system look 1 ~ 10
42 -
ahead settings
Coordinate output filter time 0 ~ 100(ms)
43 -
constant
Interpolation operation 0: Disable, 1: Able
45 -
blending angle limit
Interpolation operation 2 ~ 178 (deg)
46 -
blending allowable angle
0:none, 1:xyz, 2:Delta3, 3:Delta3R, 4:LinearDelta3, 5:LinearDelta3R,
12 Coordinate system -
6:T-Gantry, 7:T-GantryR
13 Coordinates parameter 1 0 or LREAL Positive number [mm] -
14 Coordinate Coordinates parameter 2 0 or LREAL Positive number [mm] -
15 setting Coordinates parameter 3 0 or LREAL Positive number [mm] -
16 Coordinates parameter 4 0 or LREAL Positive number [mm] -
17 Coordinates parameter 5 0 or LREAL Positive number [mm] -
18 Coordinates parameter 6 0 or LREAL Positive number [mm] -
19 X-axis offset Long real(LREAL)
20 Tool setting Y-axis offset Long real(LREAL)
21 Z-axis offset Long real(LREAL)
22 Work space type 0:Ractangle, 1:Cylinder, 2:Delta, 3:Sector
23 Workspace error check 0:disabled,1:enabled
24 Work space parameter2 Long real(LREAL)
25 Work space parameter2 Long real(LREAL)
26 Work space Work space parameter3 Long real(LREAL)
27 setting Work space parameter4 Long real(LREAL)
28 Work space parameter5 Long real(LREAL)
29 Work space parameter6 Long real(LREAL)
30 Work space parameter7 Long real(LREAL)
31 Work space parameter8 Long real(LREAL)
32 X-axis move Long real(LREAL)
33 Y-axis move Long real(LREAL)
34 PCS Setting Z-axis move Long real(LREAL)
35 X-axis rotation -360 ~ 360 (deg)
36 Y-axis rotation -360 ~ 360 (deg)

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No. Parameter Item Note OS*Note 2)

37 Z-axis rotation -360 ~ 360 (deg)
LREAL number (mm/sec), It should be less than or equal to XYZ high
38 XYZ low speed
Coordinate speed.
system jog LREAL number (deg/sec), It should be less than or equal to ABC high
39 ABC low speed
operation speed.
40 settings XYZ high speed LREAL number (mm/sec)
41 ABC high speed Long real (LREAL) (deg/sec)

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6.5.18 Axis group override (MC_GroupSetOverride)

Motion Function Block

MC_GroupSetOverride
BOOL Enable Enabled BOOL
UINT AxesGroup AxesGroup UINT
LREAL VelFactor Busy BOOL
LREAL AccFactor Error BOOL
LREAL JerkFactor ErrorID WORD

Input-Output
Set the axis group to give commands from. (1~16:1Group ~
UINT AxesGroup
16Group)
Input
Execute override operation in the relevant axis group while input is
BOOL Enable
activated.
LREAL VelFactor Specify the override rate of the speed.
LREAL AccFactor Specify the override rate of acceleration/deceleration.
LREAL JerkFactor Specify the override ratio of the rate of change for acceleration.
Output
BOOL Enabled Indicate that the override rate was applied successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
Output the number of error occurred while motion function block is
WORD ErrorID
running.

(1) This motion function block is to override the speed of the relevant axis group, acceleration, and the change rate of acceleration.
(2) Override rate which is applied to the relevant axis can be specified and changed while Enable input is On. If Enable input is
Off, override rate right before the Off is maintained.
(3) Specify the speed override ratio for the VelFactor input. If the specified value is 0.0, the relevant axis group stops but it is not
changed to 'StandStill' state.
(4) Specify acceleration/deceleration and override rate of jerk (change rate of acceleration) in AccFactor and JerkFactor input
respectively.
(5) Negative number cannot be input in each Facotr, and if it is input, "error 0x2111” occurs.
(6) Default of each override rate is 1.0, and it means 100% of the command speed of function block currently running.
(7) Override operation does not affect the serve axis of the relevant axis group.
(8) Override command cannot be used during synchronous operation.

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(9) Example program

This example shows the operation by changing the current velocity to 2,000/ 3,000/ 4,000/ 5,000 if VelFactor is changed to
2/3/4/5 at the current velocity of 1,000.
(a) Function block setting

(b) Timing diagram

%MX1

MOVELINEARRELATIVE.Active

GROUPSETOVERRIDE.Busy

속도
velocity

위치
position

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6.5.19 Group current position setting (MC_GroupSetPosition2)

Motion Function Block

MC_GroupSetPosition2
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[0..9] OF LREAL Position Busy BOOL
BOOL Relative Active BOOL
UINT CoordSystem CommandAborted BOOL
UINT BufferMode Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Select the group to set the current position. (1 ~ 16: 1Group ~ 16 Group)
Input
Give group current position setting command to the relevant group in the rising
BOOL Execute
Edge.
LREAL[ ] Position Specify the position.
BOOL Relative 0: Position value=Absolute position, 1:Position value=Incremental position
UINT CoordSystem Select the coordinate system type.(0:ACS 1:MCS 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(6.1. 4. Refer to BufferMode input )
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) The motion function block does not move the axis and sets the position on all axes of the relevant axis group.
(2) The new coordinates are specified as an array in the Position input.
(3) Set the corresponding coordinate system in CoordSystem input. The MC_GroupSetPosition function block moves the position
of the specified coordinates and affects the upper coordinate system. (Selecting ACS affects MCS and PCS)
(4) If the Relative input is Off, the Position input value is applied as a new position in the specified coordinate system. If the Relative
input is On, the Position input value is added to the current position of the designated coordinate system.

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6.6 Dedicated Function Block

6.6.1 Communication connection (LS_Connect)

Motion Function Block

LS_Connect
BOOL Execute Done BOOL
Busy BOOL
Error BOOL
ErrorID WORD

Input
Give communication connection command to the relevant motion controller in the
BOOL Execute
rising Edge.
Output
BOOL Done Indicate whether to complete communication connection.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to give a command to connect communication with servo drive or external input/output apparatus
to the motion controller.
(2) When slave devicees are normally connected, Done is On and Busy is Off.
(3) If an error occurs during the communication connection, Error is On and error number is output in ErrorID according to the
cause.

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6.6.2 Communication Disconnect (LS_Disconnect)

Motion Function Block

LS_Disconnect
BOOL Execute Done BOOL
Busy BOOL
Error BOOL
ErrorID WORD

Input
Give communication disconnection command to the relevant motion controller in the
BOOL Execute
rising Edge.
Output
BOOL Done Indicate whether to complete communication disconnection.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block gives a command which orders the motion controller to disconnect the communication with servo
drive or external input/output apparatuses.
(2) If communication slave is disconnected, Done is On and Busy is off. If an error occurs during the execution of communication
disconnection, Error is On and error number is output in ErrorID according to the error situation.

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6.6.3 Read SDO (LS_ReadSDO)

Motion Function Block

LS_ReadSDO
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT Index Busy BOOL
UINT SubIndex Error BOOL
UINT Length ErrorID WORD
Value DINT

Input-Output
UINT Slave Set the slave to be given a command. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give SDO reading command to the relevant slave in the rising Edge.
UINT Index Set the Index of slaver Object to be read. (0x0000~ 0x9FFF)
UINT SubIndex Set the SubIndex of slave Object to be read. (0 ~ 255)
UINT Length Set the distance of slave Object to be read by Byte. (1 ~ 4)
Output
BOOL Done Indicate that SDO is successfully read.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
DINT Value Output the value of SDO.

(1) This motion function block is to read the SDO (CoE Object) value of servo drive in the relevant axis, and reads the SDO value
of the position specified in Index and SubIndex of the axis specified by Axis input as much as the size of Length and indicates it
on Value output.
(2) Value output is eliminated to 0 when motion function block is running, and it is output as the read value when the running is
completed (Done output is On).
(3) Index input can be set as below. If the value is set outside the range, "error 0x1F12” occurs.
Setting Value Content
16#0000 ~ 16#0FFF Data Type Description
16#1000 ~ 16#1FFF Communication objects
16#2000 ~ 16#5FFF Manufacturer Specific Profile Area
16#6000 ~ 16#9FFF Standardized Device Profile Area

(4) The value between 0~255 can be entered in SubIndex, and if the value is set outside the range, "error 0x1F12” occurs.
(5) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x1F12” occurs.

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6.6.4 Write SDO (LS_WriteSDO)

Motion Function Block

LS_WriteSDO
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT Index Busy BOOL
UINT SubIndex Error BOOL
UINT Length ErrorID WORD
DINT Value

Input-Output
UINT Slave Set the slave to be given a command. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give SDO writing command to the relevant slave in the rising Edge.
UINT Index Set the Index of slave Object to be written. (0x0000~ 0x9FFF)
UINT SubIndex Set the SubIndex of slave Object to be written. (0 ~ 255)
UINT Length Set the distance of slave Object to be written by Byte. (1 ~ 4)
DINT Value Set the value to be written in SDO.
Output
BOOL Done Indicate that SDO is successfully read.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to write the SDO (CoE Object) value of the relevant slave, and it writes the value entered in Value
as the size of the Length in SDO of the position specified as Index and SubIndex of the slave specified in slave input.
(2) Index input can be set as below. If the value is set outside the range, "error 0x1F12” occurs.
Setting Value Content
16#0000 ~ 16#0FFF Data Type Description
16#1000 ~ 16#1FFF Communication objects
16#2000 ~ 16#5FFF Manufacturer Specific Profile Area
16#6000 ~ 16#9FFF Standardized Device Profile Area

(3) The value between 0~255 can be entered in SubIndex, and if the value is set outside the range, "error 0x1F12” occurs.
(4) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x1F12” occurs.

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6.6.5 Save SDO (LS_SaveSDO)

Function Block type

LS_SaveSDO
BOOL Execute Done BOOL
UINT Slave Slave UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Slave Specify the Slave to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Give SDO saving command to the relevant slave in the rising Edge.
Output
BOOL Done Indicate that SDO is successfully save.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is a command to save SDO of the designated slave to the memory of the slave.

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6.6.6 Read SDO (LS_ReadSDO2)

Motion Function Block

LS_ReadSDO2
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT Index Busy BOOL
UINT SubIndex Error BOOL
UINT Length ErrorID WORD
DINT TimeOut Value DINT

Input-Output
UINT Slave Set the slave to be given a command. ( refer toSee 2.2.1 Setting Range by Product)
Input
BOOL Execute Give SDO reading command to the relevant slave in the rising Edge.
UINT Index Set the Index of slaver Object to be read. (0x0000~ 0x9FFF)
UINT SubIndex Set the SubIndex of slave Object to be read. (0 ~ 255)
UINT Length Set the distance of slave Object to be read by Byte. (1 ~ 4)
DINT TimeOut Timeout of SDO read command (ms)
Output
BOOL Done Indicate that SDO is successfully read.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
DINT Value Output the value of SDO.

(1) This motion function block is a motion function block that reads the SDO (CoE Object) value of the corresponding slave, and
reads the SDO value at the location specified as Index and SubIndex of the slave specified as Slave input as much as the Length
size within the TimeOut setting time and displayed on the Value output. .
(2) Value output is eliminated to 0 when motion function block is running, and it is output as the read value when the running is
completed (Done output is On).
(3) Index input can be set as below. If the value is set outside the range, "error 0x1F12” occurs.

Setting Value Content

16#0000 ~ 16#0FFF Data Type Description
16#1000 ~ 16#1FFF Communication objects
16#2000 ~ 16#5FFF Manufacturer Specific Profile Area
16#6000 ~ 16#9FFF Standardized Device Profile Area

(4) The value between 0~255 can be entered in SubIndex, and if the value is set outside the range, "error 0x1F12” occurs.
(5) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x1F12” occurs.
(6) If SDO read is not performed within the time (ms) set in TimeOut, “Error 0x1F21” is generated.

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6.6.7 Write SDO (LS_WriteSDO2)

Motion Function Block

LS_WriteSDO2
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT Index Busy BOOL
UINT SubIndex Error BOOL
UINT Length ErrorID WORD
DINT Value
DINT TimeOut

Input-Output
UINT Slave Set the slave to be given a command. ( refer toSee 2.2.1 Setting Range by Product)
Input
BOOL Execute Give SDO writing command to the relevant slave in the rising Edge.
UINT Index Set the Index of slave Object to be written. (0x0000~ 0x9FFF)
UINT SubIndex Set the SubIndex of slave Object to be written. (0 ~ 255)
UINT Length Set the distance of slave Object to be written by Byte. (1 ~ 4)
DINT Value Set the value to be written in SDO.
DINT TimeOut Timeout of SDO Write command (ms)
Output
BOOL Done Indicate that SDO is successfully read.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to write the SDO (CoE Object) value of the relevant slave, and it writes the value entered in Value
as the size of the Length in SDO value of the position specified as Index and SubIndex of the slave specified in slave input.
(2) Index input can be set as below. If the value is set outside the range, "error 0x1F12” occurs.

Setting Value Content

16#0000 ~ 16#0FFF Data Type Description
16#1000 ~ 16#1FFF Communication objects
16#2000 ~ 16#5FFF Manufacturer Specific Profile Area
16#6000 ~ 16#9FFF Standardized Device Profile Area

(3) The value between 0~255 can be entered in SubIndex, and if the value is set outside the range, "error 0x1F12” occurs.
(4) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x1F12” occurs.
(5) If SDO read is not performed within the time (ms) set in TimeOut, “Error 0x1F14” is generated.

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6.6.8 Encoder preset position setting (LS_EncoderPreset)

Function Block type

LS_EncoerPreset
BOOL Execute Done BOOL
UINT Encoder Busy BOOL
LREAL Position Error BOOL
BOOL Relative ErrorID WORD

Input
BOOL Execute Specify the position of the relevant encoder in the rising Edge.
UINT Encoder Set the encoder to set the position. (1: Encoder 1, 2:Encoder 2)
LREAL Position Specify the position to set. [u]
0: Absolute coordinate position
BOOL Relative
1: Relative coordinate position
Output
BOOL Done Indicate the completion state of motion function block.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to set the current position of the relevant encoder.
(2) Specify the position in Position input. When executing motion function command, if Relative input is Off, the position of the
current axis is replaced with the Position input value, and if the Relative input is On, the Position input value is added to the
current position of the relevant axis.

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6.6.9 JOG operation (LS_Jog)

Function Block type

LS_Jog
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
BOOL Direction Busy BOOL
BOOL Low_High Error BOOL
ErrorID WORD

Input-Output
UINT Axis Specify the axis to be commanded. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Enable Give jog command to the relevant axis while input is On.
BOOL Direction Set the rotation direction in jog (0:forward direction , 1:reverse direction)
Set the JOG speed in JOG operation.
BOOL Low_High
(0: Jog low speed operation, 0: Jog high speed operation)
Output
BOOL Enabled Indicate that the relevant axis is in jog.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is to make the relevant axis perform jog operation.
(2) Jog is a manual operation function for test and is used to confirm the position address for system operation, wiring condition
check, and teaching. Jog can be used by dividing the speed into high speed and low speed.
(3) When Enable input is On (in jog), if the value set in Low/High is changed, speed change occurs without stop in jog, and if the
value set in JOG_DIR is changed, Jog is continued by changing the direction after the deceleration pause.
(4) If jog operation is stopped by another command, “Error 16#0015” occurs.
(5) Example program
This example shows jog operation under the following settings when the current command position is 0.
Axis 1: Forward/low speed, Axis 2: Forward/high speed, Axis 3: Reverse/low speed,
(a) Function block setting

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(b) Timing diagram

Axis 2 position

Axis 2 velocity
Axis 1 position

Axis 1 velocity
Axis 3 velocity
Axis 3 position

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6.6.10 Read Cam data (LS_ReadCamData)

Function Block type

LS_ReadCamData
BOOL Enable Done BOOL
UINT Axis Axis UINT
UINT CamTable ID Busy BOOL
Array [] of LREAL MasterPoint Error BOOL
Array [] of LREAL SlavePoint ErrorID WORD
Array [] of BYTE CamCurveSel StartSlope LREAL
EndSlope LREAL
CamPointNum UINT

Input-Output
UINT Axis Specify the Axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Enable Read the relevant cam data while input is On.
UINT CamTableID Specify the cam table to read. ( refer toSee 6.2.1 Setting Range by Product)
LREAL[] MasterPoint MasterPoint value of the cam table is displayed on the areas of which front address
is the set device.
LREAL[] SlavePoint SlavePoint value of the cam table is displayed on the areas of which front address is
the set device.
BYTE[] CamCurveSel Cam curve type of the cam table is displayed on the areas of which front address is
the set device. (0: Linear, 1: Cubic)
Output
BOOL Vaild Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
LREAL StartSlope Output the StartSlope value of the relevant cam table.
LREAL EndSlope Output the EndtSlope value of the relevant cam table.
UINT CamPointNum Output the cam data point number of the relevant cam table.

(1) This function block displays the data of the cam table.
(2) While Enable input is activated, the data values of the cam table are displayed in succession.
(3) The first address of the variables to store "Main-axis Position" and "Sub-axis Position" read from the cam profile is set at the
MasterPoint and the SlavePoint. If the size of the array variable is set smaller than the number of data in the cam table, the
data of the entire cam table may not be read because the cam data is read only by the array size.

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6.6.11 Write Cam data (LS_WriteCamData)

Function Block type

LS_WriteCamData
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT CamTable ID Busy BOOL
LREAL StartSlope Error BOOL
LREAL EndSlope ErrorID WORD
UINT CamPointNum
Array[] of LREAL MasterPoint
Array[] of LREAL SlavePoint
Array[] of BYTE CamCurveSel
UINT ExecutionMode

Input-Output
UINT Axis Specify the Axis to be commanded (See 6.2.1 Setting Range by Product)
Input
BOOL Execute Give the cam data writing command in the rising Edge of the input.
UINT CamTableID Specify the ID of the cam table to write. ( refer toSee 6.2.1 Setting Range by Product)
LREAL StartSlope Specify the StartSlope value of the cam table to write.
LREAL EndSlope Specify the StartSlope value of the cam table to write.
UINT CamPointNum Specify the cam data point number of the cam table to write.
LREAL[] MasterPoint Of the cam data to write, set the leading address of the device where Master Point
value is stored.
LREAL[] SlavePoint Of the cam data to write, set the leading address of the device where Slave Point
value is stored.
BYTE[] CamCurveSel Of the cam data to write, set the leading address where cam curve type is stored. (0:
Linear, 1: Cubic)
UINT ExecutionMode Set the timing to write the cam data.
0 - Immediately applied, 1: Applied at the same point with ‘Buffered’ of Buffermode
Output
BOOL Done This represents successful cam data writing.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is a command to write the data value of the cam table. Of the cam table data set by CamTableID
input, use the value of the device set at MasterPoint and Slave Point at the value set at StartSlope and EndSlope and the set
number at CamPointNum as the MasterPoint and SlavePoint values.
(2) CamTableID input can be set to between 1 and 32. Setting a value outside the above range will cause "Error 16#000B"
(3) You can enter a value below the number of settings set in the existing cam profile into CamPointNum. If the CamPointNum
value is larger than the exiting cam profile, an error 16#111C”occurs.
(4) If the size of MasterPoint / SlavePoint / CamCurveSel array is set to a value smaller than CamPointNum, an “error 16#000B”
occurs.

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(5) ExecutionMode input sets the setting timing. When the input is 0, setting is performed upon executing the command. When
the input is 1, setting is performed at the same time as "Buffered" at the sequential operation. If the value that cannot be set is
applied, "Error 16 # 000B" occurs.
0(mcImmediately) : Itchanges the (Upward Edge of Execute input) parameter value upon executing the function block. If
the relevant axis is in running, operation can be affected.
1(mcQueued) : It is changed at the same point of time as in "Buffered" of Buffermode. (6.1. 4. Command buffering: refer to
BufferiMode)

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6.6.12 Write Cam Block Property (LS_WriteCamBlockProperty)

Motion Function Block

LS_WriteCamBlockProperty
BOOL Execute Done BOOL
UINT CamBlockID Busy BOOL
UNIT NodeDataNum Error BOOL
REAL MasterVelocity ErrorID WORD
REAL MaxVelocity
REAL MaxAccel
REAL MaxJerk

Input
BOOL Execute Write cam block data at the rising edge of the input.
UINT CamBlockID Enter the setting block number. (1~100)
UINT NodeDataNum Enter the number of configured nodes.
REAL CamCycleTime Enter the time value for 1 cycle of CAM operation. (sec)
REAL MaxVelocity Enter the maximum cam operation speed value.
REAL MaxAccel Enter the maximum cam operation acceleration value.
REAL MaxJerk Enter the maximum cam operation jerk value.
Output
BOOL Done Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
(1) The cam block function creates a cam profile by setting the cam curve, connection speed, connection acceleration, and
connection jerk. This motion function block is a command to write properties during the cam profile creation stage to perform
cam operation of the main and subordinate axes. The properties refer to the cam operation speed, the maximum speed of the
sub-axis, the maximum acceleration of the sub-axis, and the maximum jerk of the sub-axis in the figure below.

(2) Function block is the first command used among cam block related function blocks LS_WriteCamblockProperty,
LS_WriteCamblockNode, LS_GenerateCamData, LS_ReadCamblockProperty, and LS_ReadCamblockNode.

(3) You can check the settings of LS_WriteCamblockProperty through the LS_ReadCamblockProperty command. If a value
outside the set range is input to CamBlockID, Error becomes ‘1’ and ErrorID ‘0x00C1’ occurs.

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6.6.13 Write Cam Block node (LS_WriteCamBlockNode)

Motion Function Block

LS_WriteCamBlockNode
BOOL Execute Done BOOL
UINT CamBlockID Busy BOOL
UINT NodeID Error BOOL
LREAL MasterPos ErrorID WORD
LREAL SlavePos
BYTE CamCurve
BOOL EnableConVel
REAL ConectingVelocity
BOOL EnableConAccel
REAL ConectingAccel
BOOL EnableConJerk
REAL ConectingJerk
UINT PointNum
BYTE InterpolationType

Input
BOOL Execute Write cam block data at the rising edge of the input.
UINT CamBlockID Enter the setting block number. (1~100)
UINT NodeID Enter the setting node number. (0~360)
LREAL MasterPos Enter the position of the main axis of the cam block.
LREAL SlavePos Enter the position of the sub axis of the cam block.
Byte CamCurve Enter the Cam curve type of the cam block.
BOOL EnableConVel Enter whether to use the setting for the connection speed.
LREAL ConnectingVelocity Enter the connection speed of the cam block.
BOOL EnableConAccel Enter whether to use the setting for the connection acceleration.
LREAL ConnectingAccel Enter the connection acceleration of the cam block.
BOOL EnableConJerk Enter whether to use the setting for the connection jerk.
LREAL ConnectingJerk Enter the connection jerk of the cam block.
UINT PointNum Enter the number of cam points of the cam block.
Byte InterpolationType Enter the interpolation method of the cam block. (0:Linear 1:Cubic)
Output
BOOL Done Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) The cam block function creates a cam profile by setting the cam curve, connection speed, connection acceleration, and
connection jerk. This motion function block is a command to write node parameter during the cam profile creation stage to
perform cam operation of the main and subordinate axes. Node parameters refer to main axis position, subordinate axis
position, cam curve, connected speed, connected acceleration, number of points, and interpolation type in the figure below.

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(2) This function block is a command used after the cam block related function block LS_WriteCamblockProperty is executed.
Also, if there is no cam block, execute WriteCamBlockProperty to designate the number of nodes in the cam block.
(3) Enter the cam block number to write in CamBlockID.
(4) Enter the number of nodes in the cam block in NodeDataNum. (Ex 20)
(5) You can check the details of cam curve and interpolation type in Chapter 8, Cam Block Function.
(6) You can check the settings of LS_WriteCamblockNode through the LS_ReadCamblockNode command.
(7) If a value outside the set range is input to CamBlockID, Error becomes ‘1’ and ErrorID ‘0x00C1’ occurs.
(8) If a value outside the set range is input to Node ID, Error becomes ‘1’ and ErrorID ‘0x00C3’ occurs.
(9) If a value outside the set range is input to PointNum, Error becomes ‘1’ and ErrorID ‘0x00C4’ occurs.

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6.6.14 Generate Cam data (LS_GenerateCamData)

Motion Function Block

LS_GenerateCamData
BOOL Execute Done BOOL
UINT CamBlock ID Busy BOOL
UINT CamTableID Error BOOL
ErrorID WORD
CamPointNum UINT

Input
BOOL Execute Write cam block data at the rising edge of the input.
UINT CamBlockID Enter the setting block number. (1~100)
UINT CamTableID Specify the cam table Number to generate. (1~32)
Output
BOOL Done Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
UINT CamPointNum Outputs the number of generated cam data.

(1) The cam block function creates a cam profile by setting the cam curve, connection speed, connection acceleration, and
connection jerk. This motion function block is the cam profile creation stage to perform cam operation of the main and
subordinate axes. This command performs the same function as export in the picture below.

(2) This motion function block is a function block that creates a camp profile from the stored cam block data.
(3) The function block is executed at the rising edge of the Execute input.

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6.6.15 Read Cam Block Property (LS_ReadCamBlockProperty)

Motion Function Block

LS_ReadCamBlockProperty
BOOL Execute Done BOOL
UINT CamBlockID Busy BOOL
Error BOOL
ErrorID WORD
MaxNodeDataNum UINT
NodeDataNum UINT
MasterVelocity REAL
MaxVelocity REAL
MaxAcceleration REAL
MaxJerk REAL

Input
BOOL Execute Write cam block data at the rising edge of the input.
UINT CamBlockID Input the number of cam block to read. (1~100)
Output
BOOL Done Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
UINT NodeDataNum Output the number of configured nodes.
REAL MaxVelocity Output the maximum cam operation speed value.
REAL MaxAccel Output the maximum cam operation acceleration value.
REAL MaxJerk Output the maximum cam operation jerk value.
(1) The cam block function creates a cam profile by setting the cam curve, connection speed, connection acceleration, and
connection jerk. This command can check the content set by LS_WriteCamblockProperty. This motion function block is a
function block that reads the attribute data of the designated cam block.
(2) The function block is executed at the rising edge of the Execute input.
(3) In BlockID, enter the cam block number. A value between 1 and 100 can be entered for the BlockID value.
(4) If a value outside the set range is input to CamBlockID, Error becomes ‘1’ and ErrorID ‘0x00C1’ occurs.
(5) If a value outside the set range is input to CamBlockID, Error becomes ‘1’ and ErrorID ‘0x00C1’ occurs.

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6.6.16 Read Cam Block node (LS_ReadCamBlockNode)

Motion Function Block

LS_ReadCamBlock
BOOL Execute Done BOOL
UINT CamBlockID Busy BOOL
UINT NodeID Error BOOL
ErrorID WORD
MasterPos LREAL
SlavePos LREAL
CamCurve BYTE
EnableConVel BOOL
ConnectingVelocity LREAL
EnableConAccel BOOL
ConnectingAccel LREAL
EnableConJerk BOOL
ConnectingJerk LREAL
PointNum UINT
InterpolationType BYTE

Input
BOOL Execute Write cam block data at the rising edge of the input.
UINT CamBlockID Input the number of cam block to read. (1~100)
UINT NodeID Input the number of node to read. (1~100)
Output
BOOL Done Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
LREAL MasterPos Output the position of the main axis set in the cam block.
LREAL SlavePos Output the position of the sub axis set in the cam block.
Byte CamCurve The cam curve type set in the cam block is output..
It outputs whether the setting for the connection speed set in the cam block is used
BOOL EnableConVel
or not.
LREAL ConnectingVelocity Outputs the connection speed set in the cam block.
It outputs whether the setting for the connection acceleration set in the cam block
BOOL EnableConAccel
is used or not.
LREAL ConnectingAccel Outputs the connection acceleration set in the cam block.
It outputs whether the setting for the connection jerk set in the cam block is used
BOOL EnableConJerk
or not.
LREAL ConnectingJerk Outputs the connection jerk set in the cam block.
UINT PointNum Enter the number of cam points of the cam block.
Byte InterpolationType Outputs the number of cam points set in the cam block.

(1) The cam block function creates a cam profile by setting the cam curve, connection speed, connection acceleration, and
connection jerk. This command can check the content set by LS_WriteCamblocNode. This motion function block is a function
block that reads the node data of the designated cam block.
(2) The function block is executed at the rising edge of the Execute input.

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(3) In BlockID, enter the cam block number. A value between 1 and 100 can be entered for the BlockID value.
(4) If a value outside the set range is input to CamBlockID, Error becomes ‘1’ and ErrorID ‘0x00C1’ occurs.
(5) If a value outside the set range is input to Node ID, Error becomes ‘1’ and ErrorID ‘0x00C3’ occurs.
(6) If a value outside the set range is input to CamBlockID, Error becomes ‘1’ and ErrorID ‘0x00C1’ occurs.

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6.6.17 Read ESC (LS_ReadEsc)

Function Block type

LS_ReadEsc
BOOL Execute Done BOOL
UINT Adp Busy BOOL
UINT Ado Error BOOL
UINT Length ErrorID WORD
UINT EcatCmd Value UDINT
Wkc UINT

Input
BOOL Execute Give the ESC reading command to the slave controller in the rising Edge.
UINT Adp Set the slave controller address according to the EcatCmd.
UINT Ado Set the slave controller ESC address.
UINT Length Set the data length to read. (1 ~ 4 Byte)
UINT EcatCmd Set the EtherCAT command. (1: APRD, 4: FPRD, 7: BRD)
Output
BOOL Done This represents successful ESC reading to complete normally.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
UDINT Value Output the ESC reading value of the slave controller
UINT Wkc After the execution of the command, Working Counter value is displayed.

(1) This motion function block is a function block to read the data of the address in Ado set from the ESC (EtherCAT Slave
Controller) of the designated slave device.
(2) Value and Wkc (Working Counter) is displayed as 0 when the motion function block is executed. When the execution is
completed (Done output is on), the read data value is displayed at Value, and the Working Counter value is displayed at Wkc.
(3) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd settings.
If EcatCmd setting is 7(BRD), Adp input value is ignored. If a value outside the range is set for Adp input, “Error 0x0F60” occurs.
EcatCmd Adp range
0x0000: The first slave connected
0xFFFF: The second slave connected
1 (APRD) 0xFFFE: The third slave connected
:
0xFFC1: The 64th slave connected
4 (FPRD) 1 ~ 64: slave 1~slave 64
7 (BRD) -
(4) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x0F61” occurs.
(5) At EcatCmd, the type of command to use when reading ESC (EtherCAT Slave Controller) is specified. The following three
commands can be used. Setting a value outside the range at EcatCmd will cause "Error 0x0F62”.
1) 1 - APRD (Auto Increment Physical Read)
This command is used when reading the slave device data following the order of physical connection before normal

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communication connection by the master. A slave device receiving Adp with 0 value will read data of the size designated
by Length. Adp of each slave device increases when EtherCAT frame is received. For example, if EcatCmd is 1, and Adp
is set to 0xFFFF, when executing ESC read function block, reading is not performed because the Adp at the time of
receiving EtherCAT frame from the first slave device is not 1, only increasing Adp by 1. When the second slve device
receives EtherCAT frame, reading is performed because the Adp value of the first slave value increased by 1 to 0. The
Adp setting values depending on the slave device connection order are as follows.
Slave device Setting value
The first slave connected 0
The second slave 0xFFFF
connected
: :
The 64th slave connected 0xFFC1
2) 4 - FPRD (Configured Address Physical Read)
This order is used to read the data by designating the station address of the slave device after normal communication
connection by the master. If the Station Address of the slave device set by EtherCAT master matches the transmitted Adp,
the slave device reads data of the size designated by Length in the Ado area. The Station Address of slave device set by
master can be checked in slave information dialog box when the slave is added.

3) 7 – Read Broadcast (Broadcast Read)

All connected slave devices read data of the size set by Length in the Ado area, and saves the result after Bitwise-OR.
The designated address value at Adp is ignored, and Wkc increase by 1due to all slaves that performed normal read
operation
(6) Wkc stands for Working Counter. If data is successfully read at the designated slave device, it increases by 1. If EcatCmd is
7(BRD), it increases by 1 due to all slaves that performed normal read operation.
(7) After the execution of ESC read command, if normal data read operation is executed from the designated slave device, Done
output is on.

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6.6.18 Write ESC (LS_WriteEsc)

Function Block type

LS_WriteEsc
BOOL Execute Done BOOL
UINT Adp Busy BOOL
UINT Ado Error BOOL
UINT Length ErrorID WORD
UINT EcatCmd Wkc UINT
UDINT Value

Input
BOOL Execute Give the ESC writing command to the slave controller in the rising Edge.
UINT Adp Set the slave controller address according to the EcatCmd.
UINT Ado Set the slave controller ESC address.
UINT Length Set the data length to write. (1 ~ 4 Byte)
UINT EcatCmd Set the EtherCAT command. (2: APWR, 5: FPWR, 8: BWR)
UDINT Value Output the ESC writing value of the slave controller
Output
BOOL Done This represents successful ESC writing to complete normally.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
UINT Wkc After the execution of the command, Working Counter value is displayed.

(1) This motion function block writes data using the address set by Ado to ESC (EtherCAT Slave Controller) of the slave device
set by Adp.
(2) Wkc value is displayed as 0 when the motion function block is executed, and the Working Counter value is displayed when
execution is completed (Done output is on). Wkc increases by 1 through each slave device designated by EcatCmd and Adp.
(3) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd settings.
If EcatCmd setting is 8(BWR), Adp input value is ignored. If a value outside the range is set for Adp input, “Error 0x0F70” occurs.
EcatCmd Adp range
0x0000: The first slave connected
0xFFFF: The second slave connected
2 (APWR) 0xFFFE: The third slave connected
:
0xFFC1: The 64th slave connected
5 (FPWR) 1 ~ 64: slave 1~slave 64
8 (BWR) -
(4) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x0F71” occurs.
(5) At EcatCmd, the type of command to use when reading ESC (EtherCAT Slave Controller) is specified. The following write
commands can be used. Setting a value outside the range at EcatCmd will cause "Error 0x0F72”.
1) 2- APWR( Auto Increment Physical Write)
This command is used when reading the slave device data following the order of physical connection before normal

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communication connection by the master. A slave device receiving Adp with 0 value will read data of the size designated
by Length. Adp of each slave device increases when EtherCAT frame is received. For example, if EcatCmd is 2, and Adp
is set to 0xFFFF, when executing ESC read function block, reading is not performed because the Adp at the time of
receiving EtherCAT frame from the first slave device is not 0, only increasing Adp by 1. When the second slave device
receives EtherCAT frame, writing is performed because the Adp value of the first slave value increased by 1 to 0. The Adp
setting values depending on the slave device connection order are as follows.
Slave device Setting value
The first slave connected 0
The second slave 0xFFFF
connected
: :
The 64th slave connected 0xFFC1
2) 5 – FPWR(Configured Address Physical Write)
This order is used to write the data by designating the station address of the slave device after normal communication
connection by the master. If the Station Address of the slave device set by EtherCAT master matches the transmitted Adp,
the slave device writes data of the size designated by Length in the Ado area. The Station Address of slave device set by
master can be checked in slave information dialog box when the slave is added.

3) 8 – Write Broadcast BWR, Broadcast Write)

All connected slave devices write data of the size set by Length in the Ado area. The designated address value at Adp is
ignored, and Wkc increase by 1 due to all slaves that performed normal write operation.
(6) Wkc stands for Working Counter. If data is successfully written at the designated slave device, it increases by 1. If EcatCmd is
8(BWR), it increases by 1 through each slave device that performed normal write operation.
(7) After the execution of ESC write command, if normal data write operation is executed in the specified slave device, Done output
is on.

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6.6.19 Skip Cam (LS_CamSkip)

Motion Function Block

LS_CamSkip
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT SkipCount Busy BOOL
USINT SkipMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
CoveredSkipCount UINT

Input-Output
UINT Slave Set the sub axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give cam skip command on the axis in the rising Edge.
UINT SkipCount Set the number of cam cycles to skip.
USINT SkipMode Set cam skip mode. (Reservation)
Output
BOOL Done Indicate the completion state of cam skip operation.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current axis is controlling the cam skip.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
LREAL CoveredSkipcount Output the number of cam cycle skipped.

(1) This motion function block commands Cap Skip command which skip cam operation cycles as designated for the cam
currently in operation.
(2) SkipCount determines the number of cam cycles to skip. If 0 is entered, SkipCount Error (Error 0x111E) is displayed.
(3) When Cam Skip command is issued on a sub-axis where cam operation is underway, the current cam cycle ends, and the
skip operation starts. During cam skip, the sub-axis is in stand-by at the end of the cam table.
(4) CoveredSkipCount displays the number of cam cycles skipped. The count increases with each skipped cycle, and becomes
0 when Done output is off after the function block motion is completed
(5) Done output is on when the set number of cycles are skipped after executing Cam Skip command.

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6.6.20 Variable Cam operation (LS_VarCamIn)

Motion Function Block

LS_VarCamIn
BOOL Execute InSync BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
LREAL ContinousUpdate Busy BOOL
LREAL MasterOffset Active BOOL
LREAL SlaveOffset CommandAborted BOOL
LREAL MasterScaling Error BOOL
LREAL SlaveScaling ErrorID WORD
LREAL MasterStartDistance EndOfProfile BOOL
LREAL MasterSyncPosition
UINT StartMode
UINT MasterValueSource
UINT CamTableID
UINT BufferMode

Input-Output
Set the offset value of the M device where the variable to be used as the main axis
UDINT VarOffset
is located.
UINT Slave Set the sub axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give cam operation command to the relevant axis in the rising Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate (Refer to 6.1.5.Changes in Parameters during Execution of Motion Function
Block)
LREAL MasterOffset Set the offset value of the main axis.
LREAL SlaveOffset Set the offset value of the slave cam table.
LREAL MasterScaling Specify the magnification of the main axis.
LREAL SlaveScaling Specify the magnification of the slave axis cam table.
Specify the position of the main-axis where the cam operation of the master axis
LREAL MasterStartDistance
starts.
LREAL MasterSyncPosition Specify the starting point at cam table when cam operation starts.
Set the cam operation mode.
0: Cam table is applied as an absolute value. (mcAbsolute)
UINT StartMode
1: Cam table is applied as a relative value based on the command start position.
(mcRelative)
Select the source of the main axis for cam operation.
UINT MasterValueSource 0: Synchronizes to the command position of the main axis.
1: Synchronizes to the current position of the main axis.
UINT CamTableID Specify the cam table to operate. ( refer toSee 6.2.1 Setting Range by Product)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)

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Output
Indicate that cam operation is normally being fulfilled.
BOOL InSync
(Indicate that the serve axis is following the cam table.)
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
(1) This motion function block is the function block that operates the sub-axis CAM along the main axis by setting the variable
value designated by offset as the main axis.
(2) The variable value specified as the main axis should be the LREL type. Example). When specifying the variable to be allocated
to the memory by %ML100 as the main axis value, %ML100 should be LREAL type, and the offset value specifying a variable
is UDINT type and you should input 100 to the VarOffset.
(3) Remaining settings and functions are the same as the MC_CamIn function block.

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6.6.21 Variable gear operation (LS_VarCamIn)

Motion Function Block

LS_VarGearIn
BOOL Execute InGear BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
INT RatioNumerator Active BOOL
UINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
Set the offset value of the M device where the variable to be used as the main axis
UDINT VarOffset
is located.
UINT Slave Set the sub axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate (Refer to 6.1.5.Changes in Parameters during Execution of Motion Function
Block)
INT RatioNumerator Specify the numerator of gear ratio. (-32768 ~ 32767)
UINT RatioDenominator Specify the denominator of gear ratio. (0 ~ 65535)
Select data of the main axis to be synchronized.
UINT MasterValueSource 0: Synchronize in the command position of the main axis.
1: Synchronize in the current position of the main axis.
LREAL Acceleration Specify the acceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Deceleration Specify the deceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode Input)
Output
BOOL InGear Indicate that gear operation is running by applying gear ration.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
(1) This motion function block is the function block that drives the main axis and the sub axis in gear operation (speed
synchronization) by setting the variable value designated by offset as the main axis.
(2) The variable value specified as the main axis should be the LREL type. Example). When specifying the variable to be allocated
to the memory by %ML100 as the main axis value, %ML100 should be LREAL type, and the offset value specifying a variable
is UDINT type and you should input 100 to the VarOffset.
(3) Remaining settings and functions are the same as the MC_GearIn function block.

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6.6.22 Variable gearing by specifying the position (LS_VarGearInPos)

Motion Function Block

LS_VarGearInPos
BOOL Execute InGear BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
INT RatioNumerator Busy BOOL
UINT RatioDenominator Active BOOL
UINT MasterValueSource CommandAborted BOOL
LREAL MasterSyncPosition Error BOOL
LREAL SlaveSyncPosition ErrorID WORD
UINT SyncMode
LREAL MasterStartDistance
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
Set the offset value of the M device where the variable to be used as the
UDINT VarOffset
main axis is located.
UINT Slave Set the sub axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
INT RatioNumerator Specify the numerator of gear ratio. (-32768~32767)
UINT RatioDenominator Specify the denominator of gear ratio. (0~65535)
Select the standard of the main axis value to be synchronized.
UINT MasterValueSource 0(mcSetValue): Synchronize in the target position of the main axis.
1(mcActualValue): Synchronize in the current position of the main axis.
LREAL MasterSyncPosition Specify the position of the main axis where gear operation starts.
LREAL SlaveSyncPosition Specify the position of the spindle where gear operation starts.
LREAL SyncMode Unused
LREAL MasterStartDistance Specify the distance of the main axis where synchronization starts.
Specify the maximum speed of the spindle at the beginning of
LREAL Velocity
synchronization. [u/s]
Specify the maximum acceleration of the spindle at the beginning of
LREAL Acceleration
synchronization. [u/s2]
Specify the maximum deceleration of the spindle at the beginning of
LREAL Deceleration
synchronization. [u/s2]
LREAL Jerk Unused
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4 BufferMode Input)
Output
Indicate that gear operation is normally being fulfilled as the specified gear
BOOL InSync
ratio is applied.
BOOL StartSync Indicate synchronization is starting.

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BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
Indicate that the current motion function block is interrupted while it is
BOOL CommandAborted
running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is the function block that synchronizes the main axis and the servo axis according to the gear ratio
set at the specific position by setting the variable value designated by the offset as the main axis
(2) The variable value specified as the main axis should be the LREL type. Example). When specifying the variable to be allocated
to the memory by %ML100 as the main axis value, %ML100 should be LREAL type, and the offset value specifying a variable
is UDINT type and you should input 100 to the VarOffset.
(3) Remaining settings and functions are the same as the MC_GearInPos function block.

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6.6.23 Read the slave location of the CAM table (LS_ReadCamTableSlavePos)

Motion Function Block

LS_ReadCamTableSlavePos
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT CamTableID Busy BOOL
LREAL MasterPos SlavePos LREAL
SlaveVel LREAL
SlaveAccel LREAL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Set the command axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
Give ReadCamTableSlavePos operation command to the relevant axis in the
BOOL Execute
rising Edge.
UINT CamTableID Specify the cam table to read. ( refer toSee 6.2.1 Setting Range by Product)
LREAL MasterPos Specify the position of the main axis on the CAM table.
Output
BOOL Done Indicate the completion state of ReadCamTabelSlavePos operation.
BOOL Busy Indicate that the execution of motion function block is not completed.
LREAL SlavePos It outputs the position of the slave.
LREAL SlaveVel It outputs the speed of the slave. [u/s]
LREAL SlaveAccel It outputs the acceleration of the slave. [u/s2]
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block outputs the position of the serve axis according to the position of the main axis in the specified CAM
table.
(2) Set the position value of the main axis to be read in the CAM table as the MasterPos value. Offset / gear ratio / phase correction
operation, etc. applied to the command axis are not reflected in the SlavePos output.
(3) When reading the slave position on the CAM table is completed, the ‘Done Output’ will be turned on.

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6.6.24 Write inverter speed (LS_InverterWriteVel)

Motion Function Block

LS_InverterWriteVel
BOOL Execute Done BOOL
UINT Axis Axis UINT
INT TargetVel Error BOOL
ErrorID WORD

Input-Output
Specify the axis to be commanded. (See 6.2.1 Setting Range by Product,
UINT Axis
Real axis)
Input
Give InverterWriteVel operation command to the relevant axis in the rising
BOOL Execute
Edge.
INT TargetVel The inverter speed to be set (-30000 ~ 30000, unit: rpm)
Output
BOOL Done Indicate the completion state of InverterWriteVel operation.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is the function block that sets the speed of the inverter to operate when controlling the inverter by
the axis
(2) If you set the speed in TargetVel and execute the function block, the inverter connected to the axis will operate at the
corresponding speed.
(3) The speed value set in TargetVel is in units of rpm, and can be set to the value from -30000 to 30000.

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6.6.25 Read inverter speed (LS_InverterReadVel)

Motion Function Block

LS_InverterReadVel
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
Error BOOL
ErrorID WORD
ActualVel INT

Input-Output
Specify the axis to be commanded. (See 6.2.1 Setting Range by Product,
UINT Axis
Real axis)
Input
While the condition is ON, the speed of the inverter connected to the axis is
BOOL Enable
read.
Output
BOOL Enabled It indicates whether reading the inverter speed is being executed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
INT ActualVel Speed value of the read inverter

(1) This motion function block is the function block that reads the speed of the connected inverter when controlling the inverter by
the axis.
(2) When the function block is executed, the current speed of the inverter connected to the axis is read and displayed in ActualVel.
(3) The speed value set in ActualVel is in units of rpm, and can be displayed as the value from -30000 to 30000.

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6.6.26 Write inverter control word (LS_InverterControl)

Motion Function Block

LS_InverterControl
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL SwitchOn Error BOOL
BOOL VoltageEn ErrorID WORD
BOOL QuickStop
BOOL EnableOP
BOOL EnableRamp
BOOL UnlockRamp
BOOL ReferenceRamp
BOOL FaultReset
BOOL Halt

Input-Output
Specify the axis to be commanded. (See 6.2.1 Setting Range by Product,
UINT Axis
Real axis)
Input
BOOL Execute Set the inverter control word in the rising Edge.
BOOL SwitchOn Switch On
BOOL VoltageEn Voltage Enable
BOOL QuickStop Quick Stop
BOOL EnableOP Enable operation
BOOL EnableRamp Enable ramp
BOOL UnlockRamp Unlock ramp
BOOL ReferenceRamp Reference ramp
BOOL FaultReset Fault Reset
BOOL Halt Halt
Output
BOOL Done It indicates whether or not the inverter control word setting is done normally.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
(1) This motion function block is the function block that sets the control word of the connected inverter when controlling the inverter
by the axis.
(2) In order to operate the inverter, the control word must be set to enable operation.
(3) Please refer to the following.
Command bit used in Enable Operation
Bit Value Description
0 Holding previous operation status
4 ( Enable Ramp)
1 Inverter operation by command bit
0 Holding of output frequency
5 (Unlock Ramp)
1 Operatin to target freqency
0 Input target frequency as 0
6 ( Reference Ramp)
1 Input target frequency as settting value
8 (Halt) X Unused

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Inverter status according to the bit setting of the control word

Change the inverter status according to the bit setting of the control word

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6.6.27 Read inverter status 1 (LS_InverterStatus1)

Motion Function Block

LS_InverterStatus1
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
Error BOOL
ErrorID WORD
RdySwitchOn BOOL
SwitchedOn BOOL
OpEn BOOL
VoltageEn BOOL
SwOnDisable BOOL

Input-Output
Specify the axis to be commanded. (See 6.2.1 Setting Range by Product,
UINT Axis
Real axis)
Input
BOOL Enable Read the “Status 1” of the inverter while the input is enabled.
Output
BOOL Enabled It indicates the state of reading the “Status 1” of the inverter.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
BOOL RdySwitchOn Ready to Switch On
BOOL SwitchedOn Switched On
BOOL OpEn Operation Enabled
BOOL VoltageEn Voltage Enabled
BOOL SwOnDisable Switch On Disable

(1) This motion function block is the function block that reads and displays the "Status 1" of the connected inverter when controlling
the inverter by the axis.
(2) RdySwitchOn, SwitchedOn, OpEn, VoltageEn, SwOnDisable are respectively the lower bit values of the Status Word among
the inverter PDO Data.

RdySwitchOn Bit 0
SwitchedOn Bit 1
OpEn Bit 2
VoltageEn Bit 4
SwOnDisable Bit 6

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6.6.28 Read inverter status 2 (LS_InverterStatus2)

Motion Function Block

LS_InverterStatus2
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
Error BOOL
ErrorID WORD
Fault BOOL
QuickStop BOOL
Warning BOOL
Remote BOOL
TargetReach BOOL
LimitActive BOOL

Input-Output
Specify the axis to be commanded. (See 6.2.1 Setting Range by Product,
UINT Axis
Real axis)
Input
BOOL Enable Read the “Status 2” of the inverter while the input is enabled.
Output
BOOL Enabled It indicates the state of reading the “Status 2” of the inverter.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
BOOL Fault Fault(trip)
BOOL QuickStop Quick stop
BOOL Warning Warning
BOOL Remote Remote
BOOL TargetReach Target Reached
BOOL Limit Active Internal Limit active

(1) This motion function block is the function block that reads and displays the "Status 2" of the connected inverter when controlling
the inverter by the axis.
(2) Fault, QuickStop, Warning, Remote, TagetReach, LimiActive are respectively the lower bit values of the Status Word among
the inverter PDO Data.

Fault Bit 3
QuickStop Bit 5
Warning Bit 7
Remote Bit 9
TargetReach Bit10
LimitActive Bit11

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6.6.29 Speed control operation (CSV mode) (LS_SyncMoveVelocity)

Motion Function Block

LS_SyncMoveVelocity
BOOL Execute InVelocity BOOL
UINT Axis Axis UINT
LREAL Velocity Busy BOOL
BOOL CmdPosMode Active BOOL
UINT BufferMode CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
Specify the axis to be commanded. ( refer toSee 6.2.1 Setting Range by
UINT Axis
Product)
Input
BOOL Execute In the rising Edge, it performs speed control operation through the CSV
mode.
LREAL Velocity Setting the operation speed.
BOOL CmdPosMode 0: Apply the current position to the command position.
UINT BufferMode Specify the sequential operation setting of motion function block.
(0: Aborting, 1: Buffered)
(Refer to 6.1.4.BufferMode input)
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is
running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that allows speed control using the CSV (Cyclic Synchronous Velocity) mode
of CiA402 profile on the set axis.
(2) In order to stop the specified speed operation, you can make a stop command or execute another motion function block.
(3) Velocity input specifies the speed to operate. Positive sign (+ or No sign) of the operation speed value leads to forward direction,
and negative (-) sign leads to reverse direction.
(4) CmdPosMode is used to set the update methods of the current position at the time of command. Only the initial value of 0 is
available and the current position of the command is updated using the feedback current position.
(5) The output InVelocity is turned on when the axis reaches the specified speed, and it is turned off when the specified speed
operation is stopped.
(6) When this Motion Function Block is running, the axis status is 'Continuous Motion'.

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6.6.30 Read CAM table master position (LS_ReadCamTableMasterPos)

Motion Function Block

LS_ReadCamTableMasterPos
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT CamTableID Busy BOOL
LREAL MasterStartPos MasterPos LREAL
LREAL MasterEndPos Error BOOL
LREAL SlavePos ErrorID WORD
LREAL Scale

Input-Output
UINT Axis Set the command axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
Give cam table master position reading command to the relevant axis in the rising
BOOL Execute
Edge.
UINT CamTableID Specify the cam table to read. (1~32)
LREAL MasterStartPos Start position to read position of cam main axis
LREAL MasterEndPos End position to read position of cam main axis
LREAL SlavePos Position of cam serve axis
LREAL Scale Accuracy of main axis position reading
Output
BOOL Done Indicate that the cam table main axis reading is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
LREAL MasterPos It outputs the position of the slave.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block outputs the position of the main axis corresponding to the position of the serve axis set in SlavePos,
among the values between MasterStartPos and MasterEndPos in the specified cam table.

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Slave

Scale

SlavePos

Master
MasterStartPos MasterPos MasterEndPos

(2) Set the position of serve axis to read in the cam table as SlavePos value. Offset/Gear ratio/Phase correction operation applied
to the command axis is not reflected in the MasterPos output.
(3) When the cam table master position reading operation is completed, the Done output turns on.
(4) The ‘Scale’, which is the accuracy value of the cam table master position reading, can’t input 0. If the ‘Scale’ is 0, an error (error
number: 0x0B) occurs. If the ‘Scale’ value is large, an error may occur between the magnified MasterPos value and the actual
spindle position. Also, if the ‘Scale’ value is small, the execution time of the function block may become long.
(5) If the position of the main axis corresponding to the position of the serve axis set in SlavePos does not exist among the values
between MasterStartPos and MasterEndPos, Error is On and "0x1124" occurs in ErrorID.
(6) The value of MasterEndPos must be greater than the value of MasterStartPos. If the MasterEndPos value is less than or equal
to MasterStartPos, Error is On and "0x0B" occurs in ErrorID.

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6.6.31 OnOff CAM Operation (LS_OnOffCam)

Motion Function Block

LS_OnOffCam
BOOL Execute InSync BOOL
UINT Master Master UINT
UINT Slave Slave UINT
BOOL CamOnOff Busy BOOL
BOOL SkipOnCam Active BOOL
BOOL SkipRunCam CommandAborted BOOL
UINT MasterValueSource Error BOOL
UINT OnCam_ID ErrorID WORD
UINT RunCam_ID EndOfProfile BOOL
UINT OffCam_ID CamState UINT
UINT StartMode
LREAL StartModeParam

Input-Output
UINT Master Set main axis ( refer toSee 6.2.1 Setting Range by Product)
Set the sub axis. (See 6.2.1 Setting Range by Product), Available to set variables
UINT Slave
only
Input
BOOL Execute Give the OnOff cam operation command to the relevant axis on the rising Edge.
Set whether the Cam operation is On or Off.
BOOL CamOnOff 1: Complete OnCam and switch to RunCam.
0: Complete OffCam in RunCam and switch the cam to the stop status
Exclude OnCam from OnOff cam operation and carry out RunCam->OffCam in
BOOL SkipOnCam
order.
Exclude RunCam from OnOff cam operation and carry out OnCam->OffCam in
BOOL SkipRunCam
order.
Select the source of the main axis for cam operation.
UINT MasterValueSource 0: Synchronizes to the command position of the main axis.
1: Synchronizes to the current position of the main axis.
Specify the cam table to operate in the OnCam state.
UINT OnCam_ID
( refer toSee 6.2.1 Setting Range by Product)
Specify the cam table to operate in the RunCam state.
UINT RunCam_ID
( refer toSee 6.2.1 Setting Range by Product)
Specify the cam table to operate in the OffCam state.
UINT OffCam_ID
( refer toSee 6.2.1 Setting Range by Product)
Select the method to start the cam operation.
0: Start when CamOnOff is set to 1.
1: Start when CamOnOff is set to 1 and the main axis reaches the position set in
UINT StartMode StartModeParam.
2: Start when CamOnOff is set to 1 and the main axis moves the distance set in
StartModeParam.
3: Use the profile generated with LS_CrossSealCamGen.
LREAL StartModeParam Set the parameter according to the method for starting the cam operation.

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Output
BOOL InSync Indicates that cam operation has entered the RunCam state.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate whether the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
BOOL EndOfProfile Indicates the end of the current cam operation.
0: Stop status
1:OnCam operating
UINT CamState
2:RunCam operating
3:OffCam operating

(1) This motion function block uses three cam tables to carry out the cam operation that is switched to Stop state->OnCam-
>RunCam or RunCam->OffCam->Stop state depending on the CamOnOff input.

MasterAxis

SlaveAxis

Execute
CamOnOff
InSync
EndOfProfile
CamState Stop On Run Off Stop On Off Stop

(2) The cam operation runs under a state where Execute is the rising Edge. The cam operation does not stop even if Execute
is changed to Off during the operation. To stop the OnOffCam operation, you must give the MC_CamOut command or run
another motion function block.

(3) If StartMode is set to 0, OnCam runs immediately when 1 is input in CamOnOff. If StartMode is set to 1, OnCam does not run
immediately when 1 is input in CamOnOff. But OnCam runs when the position of the main axis passes by the position set in
StartModeParam. If StartMode is set to 2, OnCam runs when 1 is input in CamOnOff and then the main axis moves the
distance set in StartModeParam.

(4) If you are using a cam generated with the LS_CrossSealCamGen function block, set StartMode to 3. If StartMode is set to 3
and the length of OnCam_ID is 270, the same operation is conducted as if StartMode is set to 1 and StartModeParam is 270.
If OnCam_ID is 180, the same operation is conducted as if StartMode is set to 1 and StartModeParam is set to 0.

(5) The EndOfProfile signal outputs On when passing the end of a profile during operation of each OnCam/OffCam/RunCam cam
profile.
(6) If the CamOnOff signal is Off, the operation is performed to switch to RunCam->OffCam->Stop state. If the CamOnOff signal
is switched from Off to On in the RunCam state, the RunCam state is maintained if OffCam is not yet executed. In a state

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where OffCam is executed, the state switches to the OnCam->RunCam state again after switching to the OffCam->Stop state.
(When turning off CamOnOff in RunCam, the operation must be maintained until the EndOfProfile signal is generated.)

SlaveAxis

CamOnOff
EndOfProfile
CamState Run Off Stop On Run Off

(7) If the SkipOnCam signal is On, RunCam is executed instantly without OnCam. If CamOnOff turns off after executing RunCam,
perform the operation to switch to RunCam->OffCam->Stop state. In an operation where the SkipOnCam signal is On, the
operation is executed from the middle of RunCam.
(8) If the SkipRunnCam signal is On, OffCam is executed without RunCam being executed after OnCam is executed. If CamOnOff
is On at this time, the operation repeats in the order of OnCam->OffCam->Stop->OnCam->OffCam->Stop.
(9) To stop the OnOffCam operation completely, use the halt (MC_Halt) or immediate stop (MC_Stop) motion function block.
(10) The CamState value is output as Stop(0) / OnCam(1) / RunCam(2) / OffCam(3) depending on the state of cam operation.
(11) Once the cam operation set in RunCam_ID is executed, InSync output turns On.
(12) MasterValueSource selects the source of the main axis to be synchronized. If set to 0, the serve axis performs cam operations
based on the command position of the main axis calculated in the motion controller, and if set to 1, the serve axis performs
cam operations based on the current position received via communication from the servo drive of the main axis.
(13) RunCam_ID sets the cam profile to execute during the operation of OnOffCam. The cam profile to execute during operation
of OnOffCam is set to RunCam_ID. Before executing RunCam in the Stop state, the cam profile to run is set to OnCam_ID.
OffCam_ID sets the cam profile to execute before RunCam reaches the Stop state. The setting range for each ID is 1-32, and
an input value outside of the range causes a "0x1115" error in the motion function block.
(14) Any changes made to the MasterValueSource/OnCam_ID/RunCam_ID/OffCam_ID value during operation are not reflected.
(15) The value of the major axis can be changed during OnCam/RunCam/OffCam operation.(V1.50 or higher)
(16) The corresponding axis is in a "SynchronizedMotion” state when this motion function block is running.
(17) For more information, see Chapter 8.6 RotaryKnife Operation under Chapter 8 Motion Control Function.

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6.6.32 RotaryKnife cam profile generation (LS_RotaryKnifeCamGen)

Function Block type

LS_RotaryKnifeCamGen
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT CamTableID Busy BOOL
LREAL PartLength Error BOOL
LREAL Circumference
ErrorID WORD
LREAL CuttingStart
LREAL CuttingEnd
LREAL CuttingSpdRatio
UINT CamType
UINT CamCurve
UINT CamPointNum

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range
by Product)
Input
BOOL Execute Performs cam profile generation in the rising Edge.
UINT CamTableID Set the cam table ID where the profile is stored.
( refer toSee 6.2.1 Setting Range by Product)
LREAL PartLength Set the length of the object to cut by the RotaryKnife.
LREAL Circumference Set the circumference of the RotaryKnife.
LREAL CuttingStart Set the position for the RotaryKnife to start cutting.
LREAL CutingEnd Set the position for the RotaryKnife to end cutting.
LREAL CuttingSpdRatio Adjust the synchronization speed by a percentage while the
RotaryKnife is cutting. (If 100 is entered, the cutting speed is
synchronized 1:1 with the main axis.)
UINT CamType Set the type of the cam profile to generate.
(0:ALL 1:RampIn 2:Running 3:RampOut)
(4:sALL 5:sRampIn 6:Running 7:sRampOut)
UINT CamCurve Set the cam curve type used in cam profile generation.
(0:Linear 1:Cubic)
UINT CamPointNum Set the number of cam points used for the cam profile.

Output
BOOL Done Indicates that the cam profile is generated successfully.
BOOL Busy Indicates that the execution of the motion function block is not
completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Outputs the error ID occurred while the motion function block
is running.

(1) This motion function block generates the cam profile which performs the RotaryKnife action.

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(2) Use the cam profile generated through LS_RotaryKnifeCamGen in the LS_OnOffCam function block.
(3) On the PartLength input, enter the length of the object to perform cutting using the RotaryKnife.
(4) On the Circumference input, enter the circumference of the RotaryKnife.

Circumference

PartLength PartLength

(5) On the CuttingStart input, enter the starting position for the RotaryKnife to start cutting. On the CuttingStart input, enter the
ending position for the RotaryKnife to end cutting. The speed of the conveyor and the RotaryKnife are synchronized between
CuttingStart and CuttingEnd. (If you want a cutting region of 10 when the Circumference is 360, set CuttingStart to 175 and
CuttingEnd to 185.)
(6) On the generated cam profile, the movement amount of the main axis is 360Degree in ratio to PartLength. This means that
you must set the gear ratio of the motor and the machine in the parameter so that 1 rotation of the main axis equals PartLength.
(7) On the generated cam profile, the movement amount of the serve axis is 360Degree in ratio to the Circumference. This means
that you must set the gear ratio of the motor and the machine in the parameter so that 1 rotation of the serve axis equals the
Circumference.
(8) For CuttingStart, you cannot enter a value that is less than 1/8 of the Circumference or greater than CuttingEnd. A "0x1172"
error occurs if there is an error in the CuttingStart value.
(9) For CuttingEnd, you cannot enter a value that is greater than 7/8 of the Circumference or smaller than CuttingEnd. A "0x1172"
error occurs if there is an error in the CuttingEnd value. To set the cutting region to the minimum, set CuttingEnd and
CuttingStart as equal values.
(10) On the CamType, enter the type of cam profile to generate. Available values are 1: RampIn 2:Running 3:RampOut 5:sRampIn
6:Running 7:sRampOut. If you enter 0, RampIn/Running/RampOut will be generated at once. The Running type generates a
cam profile which performs repeated cutting actions. The RampIn type generates a profile that includes the stop state to the
action of the Running cam profile performing the cutting action. The RampOut type generates a profile to switch RotaryKnife
from a running state to a stop state. A "0x1176" error occurs if the CamType value is outside of the range.

PartLength

MasterAxis

Circumference
RampIn

SlaveAxis

RampOut
0

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(11) The sRampIn and sRampOut types generate a shortened cam profile of RampIn and RampOut respectively. When operating
using sRampIn and sRampOut and you want to main axis to reach the 1/2Circumference position of the serve axis, the main
axis must start at the 1/2 position of PartLength.

PartLength

MasterAxis

Circumference
sRampIn

SlaveAxis

sRampOut
0

(12) On the CuttingSpdRatio input, set the speed ratio for the cutting region. If CuttingSpdRatio is set to 100, a cam profile is
generated which operates by synchronizing 1:1 with the speed of the main axis in the cutting region. As the CuttingSpdRatio
value is higher, the faster the synchronization speed on the cutting region. The setting range of CuttingSpdRatio is 50-200 and
a "0x1174" error occurs if there is an error in the CuttingSpdRatio value.

(13) On the CamCurve, enter the curve of the cam profile to generate. If you enter 0: Linear, a cam profile is generated using linear
interpolation. Once you select linear interpolation, you must specify the number of cam profile points to generate by setting
CamPointNum. Take care when setting the number of points as too little can lead to a shock due to the acceleration or
deceleration of cam operation and too many can lead to an overload in the program due to the amount of computing resources
for saving cam profiles. If you enter 1: Cubic, a cam profile is generated that uses cubic interpolation. A "0x1176" error occurs
if the CamCurve value is outside of the range.
(14) The minimum number of cam points that can be set in CamPointNum is 10, and the maximum number of cam points is 1024.
Error 0x1177 occurs when CamPointNum has an error.

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6.6.33 Cross sealer cam profile generation (LS_CrossSealCamGen)

Function Block type

LS_CrossSealCamGen
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT CamTableID Busy BOOL
LREAL PartLength Error BOOL
LREAL Circumference
ErrorID WORD
LREAL SealStart
LREAL SealEnd
LREAL SealSpdRatio
UINT CamType
UINT CamCurve
UINT CamPointNum

Input-Output
UINT Axis Specify the axis to be commanded (See 6.2.1 Setting Range
by Product)
Input
BOOL Execute Performs cam profile generation in the rising Edge.
UINT CamTableID Set the cam table ID to store the cam profile.
( refer toSee 6.2.1 Setting Range by Product)
LREAL PartLength Set length of the object sealed by the cross sealer.
LREAL Circumference Set circumference of the cross sealer.
LREAL SealStart Set the position for the cross sealer to start sealing.
LREAL SealEnd Set the position for the cross sealer to end sealing.
LREAL SealSpdRatio Adjust the synchronization speed in percentage while the
cross sealer is sealing. (If 100 is entered, the sealing speed is
synchronized 1:1 with the main axis.)
UINT CamType Set the type of the cam profile to generate.
(0:ALL 1:RampIn 2:Running 3:RampOut)
(4:sALL 5:sRampIn 6:Running 7:sRampOut)
UINT CamCurve Set the cam curve type used in cam profile generation.
(0:Linear 1:Cubic)
UINT CamPointNum Set the number of cam points used for the cam profile.
Output
BOOL Done Indicates that the cam profile is generated successfully.
BOOL Busy Indicates that the execution of the motion function block is not
completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Outputs the error ID occurred while the motion function block
is running.

(1) This motion function block generates the cam profile which performs the cross sealer action. Use the cam profile generated
through LS_CrossSealCamGen in the LS_OnOffCam function block.
(2) On the PartLength input, enter the length of the object to perform sealing using the cross sealer.

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(3) On the Circumference input, enter the circumference of cross sealer.

(4) Both the main and serve axes of the generated cam profile is output within the 0-360 range. For the PartLength and
Circumference values, you must enter the distance moved by the main axis when the main and serve axes move in 360 value.

Circumference

PartLength

(5) On the SealStart input, enter the starting position for the cross sealer to start sealing. On the sealEnd input, enter the position
where the cross sealer completes the sealing. The speed of conveyor and the cross sealer are synchronized between
SealStart and SealEnd. If you want a sealing region of 10 when the Circumference is 360, set SealStart to 175 and SealEnd
to 185.
(6) On the generated cam profile, the movement amount of the main axis is 360 in ratio to PartLength. This means that you must
set the gear ratio of the motor and the machine in the parameter so that when the main axis moves 360, the real distance
equals PartLength.
(7) On the generated cam profile, the movement amount of the serve axis is 360 in ratio to Circumference. This means that you
must set the gear ratio of the motor and the machine in the parameter so that when the serve axis moves 360, the real distance
equals Circumference.
(8) For SealStart, you cannot enter a value that is less than 1/8 of the Circumference or greater than SealEnd. A "0x1172" error
occurs if there is an error in the SealStart value.
(9) For SealEnd, you cannot enter a value that is greater than 7/8 of the Circumference or smaller than SealEnd. A "0x1172" error
occurs if there is an error in the SealEnd value. To set the sealing region to the minimum, set SealEnd and SealStart as equal
values.
(10) On the CamType, enter the type of cam profile to generate. Available values are 1: RampIn 2: Running 3:RampOut 5:sRampIn
6:Running 7:sRampOut. If you enter 0, RampIn/Running/RampOut will be generated at once. The Running type generates
a cam profile which performs repeated sealing actions. The RampIn type generates a profile that includes the stop state to the
action of the Running cam profile performing the sealing action. The RampOut type generates a profile to switch the cross
sealer from a running state to a stop state. A "0x1176" error occurs if the CamType value is outside of the range.

360

270

MasterAxis 180

360

RampIn

SlaveAxis
180

RampOut
0

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(11) The cam profile generated in the LS_CrossSealCamGen function is similar to the cam profile generated in the
LS_RotaryCutCamGen. For the RampIn profile, the operation starts when the main axis is at 270 and not at 0. The profile also
starts to perform sealing when the main axis is at 180 degrees.
(12) The sRampIn and sRampOut types generate a shortened cam profile of RampIn and RampOut respectively. When operating
using sRampIn and sRampOut, the cam operation starts when the main axis is at 0.

360

270

MasterAxis 180

360

sRampIn

SlaveAxis
180

sRampOut
0

(13) On the SealSpdRatio input, set the speed ratio for the sealing region. If SealSpdRatio is set to 100, a cam profile is generated
which operates by synchronizing 1:1 with the speed of the main axis in the sealing section. The higher the SealSpdRatio value,
the faster the synchronization speed in the cutting region. The setting range of SealSpdRatio is 50-200 and a "0x1174" error
occurs if there is an error in the SealSpdRatio value.
(14) On the CamCurve, enter the curve of the cam profile to generate. 0: Enter linear, a cam profile is generated using linear
interpolation. Once you select linear interpolation, you must specify the number of cam profile points to generate by setting
CamPointNum. Take care when setting the number of points as too little can lead to a shock due to the acceleration or
deceleration of cam operation and too many can lead to an overload in the program due to the amount of computing resources
for saving cam profiles. 1: Enter cubic, a cam profile is generated that uses cubic interpolation. A "0x1176" error occurs if the
CamCurve value is outside of the range.
(15) The minimum number of cam points that can be set in CamPointNum is 10, and the maximum number of cam points is 1024.
Error 0x1177 occurs when CamPointNum has an error.

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6.6.34 Expand OnOff CAM Operation (LS_OnOffCamEx)

Motion Function Block

LS_OnOffCamEx
BOOL Execute InSync BOOL
UINT Master Master UINT
UINT Slave Slave UINT
BOOL CamOnOff Busy BOOL
BOOL SkipOnCam Active BOOL
BOOL SkipRunCam CommandAborted BOOL
UINT MasterValueSource Error BOOL
UINT OnCam_ID ErrorID WORD
UINT RunCam_ID EndOfProfile BOOL
UINT OffCam_ID CamState UINT
LREAL MasterOffset
LREAL SlaveOffset
LREAL MasterScaling
LREAL SlaveScaling
UINT StartMode
LREAL StartModeParam

Input-Output
UINT Master Set main axis (See 6.2.1 Setting Range by Product), Available to set variables only
Set the sub axis. (See 6.2.1 Setting Range by Product), Available to set variables
UINT Slave
only
Input
BOOL Execute Give the OnOff cam operation command to the relevant axis on the rising Edge.
Set whether the Cam operation is On or Off.
BOOL CamOnOff 1: Complete OnCam and switch to RunCam.
0: Complete OffCam in RunCam and switch the cam to the stop status
Exclude OnCam from OnOff cam operation and carry out RunCam->OffCam in
BOOL SkipOnCam
order.
Exclude RunCam from OnOff cam operation and carry out OnCam->OffCam in
BOOL SkipRunCam
order.
Select the source of the main axis for cam operation.
UINT MasterValueSource 0: Synchronizes to the command position of the main axis.
1: Synchronizes to the current position of the main axis.
UINT OnCam_ID Specify the cam table to operate in the OnCam state.
UINT RunCam_ID Specify the cam table to operate in the RunCam state.
UINT OffCam_ID Specify the cam table to operate in the OffCam state.
LREAL MasterOffset Set the offset value of the main axis.
LREAL SlaveOffset Set the offset value of the serve axis.
LREAL MasterScaling Specify the magnification of the main axis.
LREAL SlaveScaling Specify the magnification of the serve axis.
Select the method to start the cam operation.
0: Start when CamOnOff is set to 1.
1: Start when CamOnOff is set to 1 and the main axis reaches the position set in
UINT StartMode StartModeParam.
2: Start when CamOnOff is set to 1 and the main axis moves the distance set in
StartModeParam.
3: Use the profile generated with LS_CrossSealCamGen.
LREAL StartModeParam Set the parameter according to the method for starting the cam operation.

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Output
BOOL InSync Indicates that cam operation has entered the RunCam state.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate whether the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted by other command.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
BOOL EndOfProfile Indicates the end of the current cam operation.
0: Stop status
1:OnCam operating
UINT CamState
2:RunCam operating
3:OffCam operating

(1) This motion function block uses three cam tables to carry out the cam operation that is switched to stop state->OnCam-
>RunCam or RunCam->OffCam->Stop state depending on the CamOnOff input.

MasterAxis

SlaveAxis

Execute
CamOnOff
InSync
EndOfProfile
CamState Stop On Run Off Stop On Off Stop

(2) The cam operation runs under a state where Execute is the rising Edge. The cam operation does not stop even if Execute
is changed to Off during the operation. To stop the OnOffCam operation, you must give the MC_CamOut command or run
another motion function block.
(3) Set the offset of the cam table to be applied in MasterOffset and SlaveOffset. MasterOffset determines the offset from the
master axis start point, and Slaveoffset determines the offset from the slave axis start point. Refer to the Figure below.

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Before After
applying applying
Serve axis
Position

Main, Serve axis Main axis

starting point Position
MasterOffset

After
applying
Serve axis
Position
Before
applying
SlaveOffset

Main, Serve axis Main axis

starting point Position

(4) Set the magnification of cam data to be applied in MasterScaling and SlaveScaling. MasterScaling determines the scale rate
of the main-axis data, and SlaveScaling determines the scale rate of the sub-axis data. Refer to the Figure below.

After applying
SlaveScaling = 2.0 SlaveScaling

SlaveScaling = 1.0
After applying
MasterScaling

MasterScaling = 1.0 MasterScaling = 2.0

(5) If StartMode is set to 0, OnCam runs immediately when 1 is input in CamOnOff. If StartMode is set to 1, OnCam does not run
immediately when 1 is input in CamOnOff. But OnCam runs when the position of the main axis passes by the position set in
StartModeParam. If StartMode is set to 2, OnCam runs when 1 is input in CamOnOff and then the main axis moves the
distance set in StartModeParam.

(6) If you are using a cam generated with the LS_CrossSealCamGen function block, set StartMode to 3. If StartMode is set to 3
and the length of OnCam_ID is 270, the same operation is conducted as if StartMode is set to 1 and StartModeParam is 270.
If OnCam_ID is 180, the same operation is conducted as if StartMode is set to 1 and StartModeParam is set to 0.

(7) When MasterOffset/SlaveOffset is set, if 1 is input in CamOnOff, operation starts at the OnOffCam start position set in
StartMode and StartModeParam. The OnOffCam operation is conducted when reaching the OnOffCam start position. If
MasterOffset/SlaveOffset is set, StartMode is set to 0 and the OnOffCam operation is conducted, impact can occur when
starting operation.

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OnOffCam
StartPosition

SlaveOffset

MasterOffset

Execute
CamOnOff
InSync
EndOfProfile
CamState Stop On Run

(8) The EndOfProfile signal outputs On when passing the end of a profile during operation of each OnCam/OffCam/RunCam cam
profile.
(9) If the CamOnOff signal is Off, the operation is performed to switch to RunCam->OffCam->Stop state. If the CamOnOff signal
is switched from Off to On in the RunCam state, the RunCam state is maintained if OffCam is not yet executed. In a state
where OffCam is executed, the state switches to the OnCam->RunCam state again after switching to the OffCam->Stop state.
(When turning off CamOnOff in RunCam, the operation must be maintained until the EndOfProfile signal is generated.)

SlaveAxis

CamOnOff
EndOfProfile
CamState Run Off Stop On Run Off

(10) If the SkipOnCam signal is On, RunCam is executed instantly without OnCam. If CamOnOff turns off after executing RunCam,
perform the operation to switch to RunCam->OffCam->Stop state. In an operation where the SkipOnCam signal is On, the
operation is executed from the middle of RunCam.
(11) If the SkipRunnCam signal is On, OffCam is executed without RunCam being executed after OnCam is executed. If CamOnOff
is On at this time, the operation repeats in the order of OnCam->OffCam->Stop->OnCam->OffCam->Stop.
(12) To stop the OnOffCam operation completely, use the halt (MC_Halt) or immediate stop (MC_Stop) motion function block.
(13) The CamState value is output as Stop(0) / OnCam(1) / RunCam(2) / OffCam(3) depending on the state of cam operation.
(14) Once the cam operation set in RunCam_ID is executed, InSync output turns On.
(15) MasterValueSource selects the source of the main axis to be synchronized. If set to 0, the serve axis performs cam
operations based on the command position of the main axis calculated in the motion controller, and if set to 1, the serve axis
performs cam operations based on the current position received via communication from the servo drive of the main axis.
(16) RunCam_ID sets the cam profile to execute during the operation of OnOffCam. The cam profile to execute during operation
of OnOffCam is set to RunCam_ID. Before executing RunCam in the Stop state, the cam profile to run is set to OnCam_ID.
OffCam_ID sets the cam profile to execute before RunCam reaches the Stop state. The setting range for each ID is 1-32, and
an input value outside of the range causes a "0x1115" error in the motion function block.
(17) Any changes made to the MasterValueSource/OnCam_ID/RunCam_ID/OffCam_ID value during operation are not reflected.
(18) The value of the major axis can be changed during OnCam/RunCam/OffCam operation.(V1.5 or higher)
(19) The corresponding axis is in a "SynchronizedMotion” state when this motion function block is running.
(20) For more information, see Chapter 8.6 RotaryKnife Operation under Chapter 8 Motion Control Function.

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6.6.35 Master position loop control (LS_MasterPLoopControlOn)

Motion Function Block

LS_MasterPLoopControlOn
BOOL Execute InControl BOOL
UINT Axis Axis UINT
LREAL P_Gain Busy BOOL
LREAL I_Gain Active BOOL
LREAL VelFF_Gain CommandAborted BOOL
LREAL CtrlLimit Error BOOL
ErrorID WORD

Input-Output
UINT Axis Set the command axis. ( refer to See 6.2.1 Setting Range by Product)
Input
Execute master position loop control command to the relevant axis in the rising
BOOL Execute
Edge.
LREAL P_Gain Set the master position loop control proportional gain. (1/ 1000 Unit)
LREAL I_Gain Set the master position loop control integral gain. (1/ 1000 Unit)
LREAL VelFF_Gain Set the master position loop control speed FeedForward gain. (1/ 1000 Unit)
LREAL CtrlLimit Set the master position loop control output limit value.
Output
BOOL InControl Indicates that the master position loop control is operating normally.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is used to execute the ‘position loop control’ in the servo drive connected as a slave in the CPU of
the standalone motion controller (XMC).
(2) When the command is executed, the execution mode of the servo drive input to the axis is changed to CSV mode, and the
difference (position error) between the command position and the current position of the axis is input to the PI-FF controller
operated by the master.
(3) The target speed (0x60FF) object must be added to the RxPDO List, and the CSV operation mode must be supported in the
servo drive.
(4) It can be executed on any axis that can be commanded, and after execution, the axis can be driven with an existing motion
command.
(5) It can be executed only when the axis is not in operation. If it is executed while the axis is operating, an error “0x1230” occurs.
When the gain tuning of the controller is required, it is applied when the gain is modified while the instruction is being executed.
Gain correction is possible even when the axis is running.
(6) Only positive numbers can be input for the master position loop control output limit specified in CtrlLimit, and the input value acts
as the output upper limit, and the value obtained by multiplying the input value by -1 acts as the output lower limit.
(7) If both the master position loop control output limit and integral gain items are not 0, Anti Wind-up operates for the controller
integral operation.
(8) If the gain of the master position loop control is not appropriate, the system may become unstable.

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(9) If necessary, the drive's speed controller gain should be tuned. Please refer to the user manual of the drive.
(10) If homing start is executed while master position loop control is in operation, error “0x10B8” occurs. When homing start is required,
cancel the master position loop control and execute homing start.

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6.6.36 Master position loop control Release (LS_MasterPLoopControlOff)

Motion Function Block

LS_MasterPLoopControlOff
BOOL Execute Done BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Set the command axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
Execute master position loop control release command to the relevant axis in the
BOOL Execute
rising Edge.
Output
BOOL Done Indicates that master position loop control release has been completed successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is used to release the position loop control being executed by the CPU of the standalone motion
controller (XMC).
(2) If the release command is executed on the axis where the master position loop control is running, the InControl status of the
function block where the command was executed is turned off, the CommanAborted output is turned on, and the master
position loop control is released.
(3) If the release command is executed on the axis that does not execute the master position loop control, the Done output turns on
without any action.
(4) Release command can only be executed when the axis is not in operation.

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6.6.37 Cross-coupled control (LS_CrossCoupledControlOn)

Motion Function Block

LS_CrossCoupledControlOn
BOOL Execute InControl BOOL
UINT Axis Axis UINT
UINT PairAxis PairAxis UINT
LREAL P_Gain Busy BOOL
BOOL SlaveMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Set the command axis. ( refer toSee 6.2.1 Setting Range by Product)
UINT PairAxis Set the connection axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Execute Cross- coupled control command to the relevant axis in the rising Edge.
LREAL P_Gain Set the master position loop control proportional gain. (1/ 1000 Unit)
BOOL SlaveMode Select the slave operation mode. (Unused)
Output
BOOL Done Indicates that the Cross-coupled control operating normally.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is used to execute cross-coupled control between two axes under ‘position loop control’.
(2) You need to set the Axis and PairAxis different axes where the master position loop controller is running. If you input the same
value to Axis and PairAxis and execute it, an error “0x1235” occurs in the function block,If the master position loop controller
inputs and executes an axis that is not being executed, an error “0x1236” occurs in the function block.
(3) One cross-coupled control function block can be executed. If the command is re-executed while it is not released, the error
“0x1238” occurs in the function block if it is input differently from the Axis and PairAxis set in the previously executed Cross-
coupled control function block and executed.
(4) It can be executed only when the axis is not in operation. If it is executed while the axis is operating, an error “0x1234” occurs.
When the gain tuning of the controller is required, it is applied when the gain is modified while the instruction is being executed.
Gain correction is possible even when the axis is running.
(5) Since the cross-coupled control function reduces the difference in position error (position command value – current position
value) that occurs in each axis and the pair axis, the difference between the position command value and the current position
value of one axis is caused by an obstacle or an external load. When this occurs, control output is generated as much as the
position error of the same size on the other axis. During this process, the accumulated overload of the servo drive may increase
and a continuous overload alarm may occur. To avoid this phenomenon, it is necessary to set the maximum torque or torque
limit value smaller than the overload detection load factor so that the drive does not become a continuous overload condition.
When adjusting overload-related parameters, the drive may be damaged, so pay special attention to safety.
(6) If the gain of cross-coupled control is not appropriate, the system may become unstable.

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6.6.38 Cross-coupled control Release (LS_CrossCoupledControlOff)

Motion Function Block

LS_CrossCoupledControlOff
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT PairAxis PairAxis UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT Axis Set the command axis. ( refer toSee 6.2.1 Setting Range by Product)
UINT PairAxis Set the connection axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
Execute Cross- coupled control release command to the relevant axis in the rising
BOOL Execute
Edge.
Output
BOOL Done Indicates that Cross-coupled control release has been completed successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(7) This motion function block is used to release the Cross-coupled control being executed by the CPU of the standalone motion
controller (XMC).
(8) If a release command is executed on two axes where cross-coupled control is running, cross-coupled control is released, the
InControl status of the function block where the command was executed is turned off, and the CommandAborted output is
turned on.
(9) If the release command is executed on an axis that is not under cross-coupled control, an error “0x1238” occurs in the function
block.
(10) It can be executed only when the axis is not in operation. If it is executed while the axis is operating, an error “0x1234” occurs.

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6.6.39 Expansion Variable gear operation (LS_VarGearInEx)

Motion Function Block

LS_VarGearInEx
BOOL Execute InGear BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
DINT RatioNumerator Active BOOL
UDINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
Set the offset value of the M device where the variable to be used as the main axis
UDINT VarOffset
is located.
UINT Slave Set the sub axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
Specify the update setting of input value.
BOOL ContinuousUpdate (Refer to 6.1.5.Changes in Parameters during Execution of Motion Function
Block)
DINT RatioNumerator Specify the numerator of gear ratio. (-2147483648 ~ 2147483647)
UDINT RatioDenominator Specify the denominator of gear ratio. (0 ~ 4294967295)
Select data of the main axis to be synchronized.
UINT MasterValueSource 0: Synchronize in the command position of the main axis.
1: Synchronize in the current position of the main axis.
LREAL Acceleration Specify the acceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Deceleration Specify the deceleration at the beginning of gear operation synchronization. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
BOOL InGear Indicate that gear operation is running by applying gear ration.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that the current motion function block is controlling the relevant axis.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) In this motion function block, RatioNumerator input and RatioDenominator input are expanded to DINT and UDINT respectively.
(2) The rest of the settings and functions are the same as those of the LS_VarGearIn function block. Please refer to the description
of the LS_VarGearIn function block.

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6.6.40 Epansion Variable electrical gearing by specifying the position (LS_VarGearInPosEx)

Motion Function Block

LS_VarGearInPosEx
BOOL Execute InSync BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
DINT RatioNumerator Busy BOOL
UDINT RatioDenominator Active BOOL
UINT MasterValueSource CommandAborted BOOL
LREAL MasterSyncPosition Error BOOL
LREAL SlaveSyncPosition ErrorID WORD
UINT SyncMode
LREAL MasterStartDistance
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Input-Output
Set the offset value of the M device where the variable to be used as the
UDINT VarOffset
main axis is located.
UINT Slave Set the sub axis. ( refer toSee 6.2.1 Setting Range by Product)
Input
BOOL Execute Give gear operation command to the relevant axis in the rising Edge.
DINT RatioNumerator Specify the numerator of gear ratio. (-2147483648 ~ 2147483647)
UDINT RatioDenominator Specify the denominator of gear ratio. (0 ~ 4294967295)
Select the standard of the main axis value to be synchronized.
UINT MasterValueSource 0(mcSetValue): Synchronize in the target position of the main axis.
1(mcActualValue): Synchronize in the current position of the main axis.
LREAL MasterSyncPosition Specify the position of the main axis where gear operation starts.
LREAL SlaveSyncPosition Specify the position of the spindle where gear operation starts.
LREAL SyncMode Unused
LREAL MasterStartDistance Specify the distance of the main axis where synchronization starts.
Specify the maximum speed of the spindle at the beginning of
LREAL Velocity
synchronization. [u/s]
Specify the maximum acceleration of the spindle at the beginning of
LREAL Acceleration
synchronization. [u/s2]
Specify the maximum deceleration of the spindle at the beginning of
LREAL Deceleration
synchronization. [u/s2]
LREAL Jerk Unused
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
Indicate that gear operation is normally being fulfilled as the specified gear
BOOL InSync
ratio is applied.
BOOL StartSync Indicate synchronization is starting.
BOOL Busy Indicate that the execution of motion function block is not completed.

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BOOL Active Indicate that the current motion function block is controlling the relevant axis.
Indicate that the current motion function block is interrupted while it is
BOOL CommandAborted
running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) In this motion function block, RatioNumerator input and RatioDenominator input are expanded to DINT and UDINT
respectively.
(2) The rest of the settings and functions are the same as those of the LS_VarGearInPos function block. Please refer to the
description of the LS_VarGearInPos function block.

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6.7 Coordinate System Operation Function Block

6.7.1 Setting the Machine information position (MC_SetKinTransform)

Motion Function Block

MC_SetKinTransform
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT KinType Busy BOOL
UINT KinExtParam Active BOOL
ARRAY[0..11] OF LREAL[ ] KinParam CommandAborted BOOL
LREAL ToolOffsetX Error BOOL
LREAL ToolOffsetY ErrorID WORD
UINT ToolOffsetZ

Input-Output
UINT AxesGroup Set the axes group to set the machine information. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give the machine information setting command on the axis in the rising Edge.
Set the machine type.
UINT KinType (1:XYZ, 2:Delta3, 3:Delta3R, 4:LinearDelta3,�5:LinearDelta3R, 6:T-Gantry, 7:T-
GantryR )
UINT KinExtParam Unused
LREAL[] KinParam Set the machine information.
LREAL ToolOffsetX Set the X axis offset of at the end of the machine.
LREAL ToolOffsetY Set the Y axis offset of at the end of the machine.
LREAL ToolOffsetZ Set the Z axis offset of at the end of the machine.
Output
BOOL Done Indicate the machine information setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block sets the ACS and MCS conversion based on the machine model defined in advance at AxesGroup.
(2) The same setting can be applied to the XG5000 group parameter settings.

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(3) The KinType input is used to set the type of the device. You can set the device as shown below.
1) 0: none
2) 1: XYZ
3) 2: Delta3
4) 3: Delta3R
5) 4: LinearDelta3
6) 5: LinearDelta3R
7) 6: T-Gantry
8) 7: T-GantryR
(4) KinParam input is used to set the device information. (It is not set for XYZ type.)
(5) ToolOffsetX / ToolOffsetY / ToolOffsedZ are the functions to set the offset at the end point of the device. In order to cope with the
case where a separate device is connected to the end of the TCP of the robot, the tool offset function is provided separately from
the device information.

Z mcs
X mcs
Axis2

Axis1

Y mcs
Axis3

ToolOffsetZ
ToolOffsetX

ToolOffsetY TCP

TCP applied Offset

(6) When using Delta3, the device setting information is as follows. For more information, refer to 8.4.4 Machine information setting.

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Parameter Description
Rf
KinParam[0] Lf:Link length of the fixed frame(mm)
KinParam[1] Lm: Link length of the moving frame(mm)
KinParam[2] Rf: Length from the center of the fixed frame to the
link of the fixed frame (mm)
KinParam[3] Rm: Length from the center of the moving frame
to the link of the moving frame (mm)

Rm

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6.7.2 PCS setting (MC_SetCartesianTransform)

Motion Function Block

MC_SetCartesianTransform
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL TransX Busy BOOL
LREAL TransY Active BOOL
LREAL TransZ CommandAborted BOOL
LREAL RotAngleA Error BOOL
LREAL RotAngleB ErrorID WORD
LREAL RotAngleC

Input-Output
UINT AxesGroup Set the group to set the PCS. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give the PCS setting command on the axes group in the rising Edge.
LREAL TransX Movement from MCS to X Axis(mm)
LREAL TransY Movement from MCS to Y Axis(mm)
LREAL TransZ Movement from MCS to Z Axis(mm)
LREAL RotAngleA X Axis rotation amount (degree) (reserved)
LREAL RotAngleB Y Axis rotation amount (degree) (reserved)
LREAL RotAngleC Z Axis rotation amount (Degree)
Output
BOOL Done Indicate the PCS setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block sets the perpendicular coordinate conversion between MCS and PCS at AxesGroup.
(2) Axis group setting can be performed in the same way at XG5000 axis group parameter setting.

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(3) TransX/TransY/TransZ is the move distance from MCS origin to PCS origin. RotA/RotB/RotC is the rotation value of PCS, RotA
is the value that rotates PCS on the X-axis of PCS, RotB is the value that rotates PCS on the Y-axis of PCS, RotC is the value
that rotates PCS on the Z-axis of PCS. The rotation of PCS must be done the order of RotC, RotB, RotA. Refer to chapter 8.4.3
PCS setting in motion controller’s manual for more details.

Z mcs

Z pcs
Y mcs Y pcs

TransZ
X pcs

TransX

TransY
X mcs

Zpcs=Z`pcs Z`pcs
Z``pcs
RotC Z``pcs Z```pcs
Y```pcs
Y`pcs RotB
Y`pcs=Y``pcs Y``pcs
Ypcs
RotA

X`pcs X`pcs
X``pcs X```pcs=X``pcs

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6.7.3 Work space setting (LS_SetWorkspace)

Motion Function Block

LS_SetWorkspace
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT WorkspaceType Busy BOOL
BOOL WorkspaceError Active BOOL
ARRAY[0..7] OF LREAL[ ] WorksapceParam CommandAborted BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT AxesGroup Set the axes group to set the workspace. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give the work space setting command on the axes group in the rising Edge.
Set the work space type
UINT WorkspaceType
(0:Rectangle 1:Cylinder 2:Delta3 3:Sector)
Set whether an error occurs or not when a coordinate system operation exceeds
BOOL WorkspaceError
the work space.
LREAL[] WorkspaceParam Set the parameter of the work space.
Output
BOOL Done Indicate the PCS setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block sets the work space based on the coordinate system at the axes group designated by AxesGroup
input.
(2) The same setting can be applied to the XG5000 group parameter settings.

(3) WorkspaceType can be selected from 4 types (0: Rectangle 1: Cylinder 2: Delta3 3: Sector).
(4) WorkspaceError input determines whether an error occurs when a coordinate system operation exceeds the work space.

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(5) WorkspaceParam input sets the parameters depending on the work space type.
(6) The parameter setting of work space is explained as follows. Refer to chapter 8.4.5 Workspace setting in motion controller’s
manual for more details.
1) Rectangle
Parameter Value
WorkspaceParam[0] X max(mm)
Y Axis
WorkspaceParam[1] X min(mm)
WorkspaceParam[2] Y max(mm)
WorkspaceParam[3] Y min(mm)
WorkspaceParam[4] Z max(mm)
Ymax

Xmin WorkspaceParam[5] Z min(mm)

Xmax
Ymin

X Axis

2) Cylinder
Parameter Value
WorkspaceParam[0] Radius(mm)
Z Axis Radius WorkspaceParam[1] Z max(mm)
WorkspaceParam[2] Z min(mm)
Zmax
Zmin

X Axis

3) Delta
Z Axis
Parameter Value
YAxis WorkspaceParam[0] Zu(mm)
WorkspaceParam[1] Hcy(mm)
WorkspaceParam[2] Hco(mm)
WorkspaceParam[3] Rcy(mm)
Zu

WorkspaceParam[4] Rco(mm)
Rcy
WorkspaceParam[5] -
Hco Hcy

Rco

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4) Sector
Parameter Value
WorkspaceParam[0] L end (mm)
Y Axis
WorkspaceParam[1] L start(mm)
WorkspaceParam[2] Z max(mm)
WorkspaceParam[3] Z min(mm)
WorkspaceParam[4] EndAngle(degree)
WorkspaceParam[5] StartAngle(degree)
EndAngle
StartAngle

X Axis

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6.7.4 Linear Interpolation Operation for Absolute Position of Coordinate System

(LS_MoveLinearAbsolute)

Motion Function Block

LS_MoveLinearAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CoordSystem Busy BOOL
ARRAY[0..5] OF LREAL[ ] Position Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the axes group to set the absolute position time linear interpolation.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give the linear interpolation command on the axes group in the rising Edge.
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
LREAL[] Position Enter the target position of the end point of the machine.
LREAL Velocity Specify the maximum speed. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Specify the route change mode of group operation.
UINT TransitionMode
(Refer to 6.1.6.TransitionMode)
Specify the parameter of the route change setting of group operation.
LREAL TransitionParameter
(Refer to 6.1.6.TransitionMode)
Output
Indicates that the coordinate system absolute position linear interpolation operation
BOOL Done
has been successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block issues absolute position linear interpolation command based on coordinate system on the axes
group designated by AxesGroup input
(2) When this motion function block is executed, interpolation control is performed in a linear trajectory from the machine end point

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 Chapter 6 Motion Function Block

of each axes group to the target position.

(3) Specify the speed, acceleration, deceleration, and the change rate of acceleration/deceleration of interpolation operation in
Velocity, Acceleration, Deceleration, and Jerk inputs respectively.
(4) Velocity is to set the maximum speed of interpolation operation, and the standard travel distance for interpolation operation is
the combined distance of the target position position value (Position[0]~Position[2]) and the angle value
(Position[3]~Position[5]). ) multiplied by the combined distance of the axis group parameter and the angular distance
conversion constant of the axis group parameter, the larger of the values is used as the standard travel distance. If the position
value of the target position is the same as the position value of the current position and the angular distance conversion constant
value of the axis group parameter is 0, the reference travel distance value of the coordinate system operation is used as the
combined distance value of the angle value of the target position.
Travel distance

sqrt((𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝) 2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 ),
= MAX � �
angular distance conversion constant value ∗ sqrt((𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑡𝑡𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 )

(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
(6) Only Velocity, Acceleration, Deceleration, Jerk, Position input can be updated.
(7) Velocity input can be set to 0 or changed.
(8) Example program
This example shows the linear interpolation to the target position of MCS (100, 200,0) when the current command position is
0,0,0 of MCS coordinate system.
(a) Function block setting

Target
목표위치
positionsitio

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 Chapter 6 Motion Function Block

(b) Timing diagram

%MX1

MC_MoveLinearAbsolute.Done

MC_MoveLinearAbsolute.Busy

MC_MoveLinearAbsolute.Active

AG01_CMD_VEL

AG01_MTCP_Px
AG01_MTCP_Py

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 Chapter 6 Motion Function Block

6.7.5 Linear Interpolation Operation for Incremental Position of Coordinate System

(LS_MoveLinearRelative)

Motion Function Block

LS_MoveLinearRelative
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CoordSystem Busy BOOL
ARRAY[0..5] OF LREAL[ ] Distance Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the axes group to set the Incremental position linear interpolation.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
Give the incremental position linear interpolation command on the axes group in
BOOL Execute
the rising Edge.
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
LREAL[] Distance Enter the movement distance of the end point of the machine.
LREAL Velocity Specify the maximum speed. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Specify the route change mode of group operation.
UINT TransitionMode
Reference
Specify the parameter of the route change setting of group operation.
LREAL TransitionParameter
(Refer to 6.1.6.TransitionMode)
Output
Indicates that the coordinate system incremental position linear interpolation
BOOL Done
operation has been successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block issues Incremental position linear interpolation command based on coordinate system on the axes
group designated by AxesGroup input

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 Chapter 6 Motion Function Block

(2) When this motion function block is executed, interpolation control is performed in a linear trajectory from the machine end point
of each axes group to the target position.
(3) Specify the speed, acceleration, deceleration, and the change rate of acceleration/deceleration of interpolation operation in
Velocity, Acceleration, Deceleration, and Jerk inputs respectively.
(4) Velocity is to set the maximum speed of interpolation operation, and the standard travel distance for interpolation operation is
the combined distance of the target position (Position [0]~Position[2]) and the angle value (Position[3]~Position[5]) The larger
value of the product of the composite distance of and the angular distance conversion constant of the axis group parameter is
used as the standard travel distance. If the position value of the target position is the same as the position value of the current
position and the angular distance conversion constant value of the axis group parameter is 0, the reference travel distance
value of the coordinate system operation is used as the combined distance value of the angle value of the target position.
Travel distance

sqrt((𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝) 2 ),
= MAX � �
angular distance conversion constant value ∗ sqrt((𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 + (𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 − 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)2 )

(5) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
(6) Only Distance, Velocity, Acceleration, Deceleration, Jerk, Distance input can be updated.
(7) Velocity input can be set to 0 or changed.

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 Chapter 6 Motion Function Block

6.7.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System

(LS_MoveLinearTimeAbsolute)

Motion Function Block

LS_MoveLinearTimeAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CoordSystem Busy BOOL
ARRAY[0..5] OF LREAL[ ] Position Active BOOL
UINT TrajType CommandAborted BOOL
LREAL TrajTime Error BOOL
UINT BufferMode ErrorID WORD
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the axes group to set the absolute position time linear interpolation.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give the time linear interpolation command on the axes group in the rising Edge.
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
LREAL[] Position Enter the target position of the end point of the machine.
UINT TrajType Enter the operation acc/dec type.(0:Trapezoid 1:Sine1 2:Sine2)
LREAL TrajTime Set the time taken to reach the target position.(msec)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Specify the route change mode of group operation.
UINT TransitionMode
(Refer to 6.1.6.TransitionMode)
Specify the parameter of the route change setting of group operation.
LREAL TransitionParameter
(Refer to 6.1.6.TransitionMode)
Output
BOOL Done Indicate the PCS setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block issues absolute position/time linear interpolation command based on coordinate system on the axes
group designated by AxesGroup input
(2) When this motion function block is executed, interpolation control is performed in a linear trajectory from the machine end point
of each axes group to the target position.
(3) TrajType input sets the type of velocity, acceleration, deceleration of interpolation trajectory. The type can be selected from three

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 Chapter 6 Motion Function Block

types: Trapezoid/Sine1/Sine2.
(4) TrajTime sets the time taken to reach the target position.
(5) Please refer to 8. 4. 6 Coordinate System Absolute Position/Time Linear Interpolation Control for further details.
(6) Example program
This example shows the linear interpolation to the target position of MCS (100, 200,-380) when the current command position
is 0,0,-380 of MCS coordinate system.
(a) Function block setting

Target
목표위치
positionsitio

(b) Timing diagram

%MX1

MC_MoveLinearTimeAbsolute.Done

MC_MoveLinearTimeAbsolute.Busy

MC_MoveLinearTimeAbsolute.Active

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 Chapter 6 Motion Function Block

6.7.7 Time Linear Interpolation Operation for Incremental Position of Coordinate System

(LS_MoveLinearTimeRelative)

Motion Function Block

LS_MoveLinearTimeRelative
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CoordSystem Busy BOOL
ARRAY[0..5] OF LREAL[ ] Position Active BOOL
UINT TrajType CommandAborted BOOL
LREAL TrajTime Error BOOL
UINT BufferMode ErrorID WORD
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the axes group to set the Incremental position time linear interpolation.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Execute Give the time linear interpolation command on the axes group in the rising Edge.
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
LREAL[] Position Enter the target position of the end point of the machine.
UINT TrajType Enter the operation acc/dec type.(0:Trapezoid 1:Sine1 2:Sine2)
LREAL TrajTime Set the time taken to reach the target position.(msec)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Specify the route change mode of group operation.
UINT TransitionMode
Refer to (6.1.6.TransitionMode)
Specify the parameter of the route change setting of group operation.
LREAL TransitionParameter
Refer to(6.1.6.TransitionMode)
Output
BOOL Done Indicate the PCS setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block issues relative position/time linear interpolation command based on coordinate system on the axes
group designated by AxesGroup input
(2) When this motion function block is executed, interpolation control is performed in a linear trajectory from the machine end point
of each axes group to the target position.
(3) TrajType input sets the type of velocity, acceleration, deceleration of interpolation trajectory. The type can be selected from three
types: Trapezoid/Sine1/Sine2.

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 Chapter 6 Motion Function Block

(4) TrajTime sets the time taken to reach the target position.
(5) Please refer to 8. 4. 7 Coordinate System Relative Position/Time Linear Interpolation Control for further details.

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 Chapter 6 Motion Function Block

6.7.8 Circular interpolation operation for absolute position of coordinate system

(MC_MoveCircularAbsolute2D)

Motion Function Block

MC_MoveCircularAbsolute2D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do absolute position circular interpolation operation. (1 ~ 16: 1Group
UINT AxesGroup
~ 16 Group)
Input
Give absolute position circular interpolation operation command to the relevant
BOOL Execute
group in the rising Edge.
UINT CircMode Circular interpolation method setting [0: Midpoint, 1: Center point, 2: Radius]
Specify the position of auxiliary point depending on the circular interpolation method
LREAL[ ] AuxPoint
in an absolute coordinate.
LREAL[ ] EndPoint Set the circular end point as an absolute coordinate.
Circular route selection
BOOL PathChoice
0: clockwise direction, 1: counter-clockwise direction
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.

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 Chapter 6 Motion Function Block

WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block issues absolute position circular interpolation command based on coordinate system on the axis
group designated by AxesGroup input.
(2) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary point
input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular interpolation is
operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise direction.
(3) Specify the absolute position of the auxiliary point to refer when doing circular interpolation of each axis in AuxPoint and
EndPoint inputs as array. The input corresponds in the order of X, Y, Z, unlike MC_MoveCircularAbsolute.
(4) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, respectively.
(5) Set the circular interpolation method in CircMode input. The circular interpolation methods corresponding to CircMode values
are as follows.
(a) Circular Interpolation Using Midpoint Specification (CircMode = 0)
This method performs circular interpolation by starting operation at the start position, passing the designated midpoint, and
reaching the target position. In the figure below, the start position corresponds to the axes group coordinate at the start of
the command, the midpoint corresponds to the coordinate input for the AuxPoint, and the target position corresponds to
the absolute coordinate input for the EndPoint.

Y
axis

StartPoint
EndPoint

AuxPoint

X axis
(b) Circular Interpolation Using Center Point Specification (CircMode = 1)
This method performs circular interpolation to the target position by starting operation at the current position, and following
a circular trajectory of which diameter corresponds to the distance to the designated center point. In the figure below, the
current position corresponds to the axes group coordinate at the start of the command, the center point corresponds to
the coordinate input for the AuxPoint, and the target position corresponds to the absolute coordinate input for the EndPoint.

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 Chapter 6 Motion Function Block

Y
axis

AuxPoint

EndPoint

CurrentPoint

X axis

(c) Circular Interpolation using Radius Speciation (CircMode = 2)

This method performs circular interpolation to the target position by starting operation at the current position, and following
a circular trajectory with a designated radius from the current position to the target position. In the figure below, the current
position corresponds to the axes group coordinate at the start of the command, the radius corresponds to the X coordinate
input for the AuxPoint, and the target position corresponds to the absolute coordinate input for the EndPoint.

Y
axis

Radius EndPoint
(AuxPoint)
CurrentPoint

X axis
(6) Refer to chapter 8.4.7 circular interpolation control in motion controller’s manual for more details.
(7) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example is to set the center point at (0, 75, -580) when the current command position is MCS (0,150,-580), and perform
circular interpolation to the target position MCS(0,0,-580) by moving in a clockwise direction.
(a) Function block setting

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 Chapter 6 Motion Function Block

Center
point

Target
position

(b) Timing diagram

%MX1

MC_MoveCircularAbsolute2D.Done

MC_MoveCircularAbsolute2D.Busy

MC_MoveCircularAbsolute2D.Active

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 Chapter 6 Motion Function Block

6.7.9 Circular interpolation operation for Incremental position of coordinate system

(MC_MoveCircularRelative2D)

Motion Function Block

MC_MoveCircularRelative2D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do relative position circular interpolation operation. (1 ~ 16: 1Group
UINT AxesGroup
~ 16 Group)
Input
Give relative position circular interpolation operation command to the relevant group
BOOL Execute
in the rising Edge.
UINT CircMode Circular interpolation method setting [0: Midpoint, 1: Central point, 2: Radius]
Specify the position of auxiliary point depending on the circular interpolation method
LREAL[ ] AuxPoint
as the relative coordinate based on the starting point.
Specify the end point of circular arc as the relative coordinate based on the starting
LREAL[ ] EndPoint
point.
Circular route selection
BOOL PathChoice
0: clockwise direction, 1: counter-clockwise direction
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.

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BOOL Error Indicates whether an error occurs or not.

WORD ErrorID Output the number of error occurred while motion function block is running.

This motion function block issues relative position circular interpolation command on the axes group designated by AxesGroup
input.
(1) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary point
input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular interpolation is
operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise direction.
(2) At AuxPoint and EndPoint input, designate the arrangement of the relative position of auxiliary points to refer to for circular
interpolation of each axis. The input arrangement and the axes of the group correspond to the designated axis IDs [ID1, ID2,
ID3, ∙∙∙ ], in that order. (The 3 LEAL type sized array should be entered in Position input as there are 3 axes which comprise
the group to give a circular interpolation operation command.)
(3) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, respectively.
(4) Set the circular interpolation method in CircMode input. The circular interpolation methods corresponding to CircMode values
are as follows.
(a) Circular interpolation of midpoint specifying method (BORDER, CircMode = 0) in this method, operation starts at the
current position and it does circular interpolation through the pecified position of the central point to the target position. In
the figure below, the current position corresponds to the axes group coordinate at the start of the command, the midpoint
corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative coordinate input
for the EndPoint.

Y
axis

StartPoint
EndPoint

AuxPoint

X axis

(b) Circular interpolation of central point specifying method in this method, operation starts at the current position, and it does
circular interpolation to the target position along the circular path, which has a radius of the distance to the specified central
position. In the figure below, the current position corresponds to the axes group coordinate at the start of the command,
the center point corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative
coordinate input for the EndPoint.

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Y
axis

AuxPoint

EndPoint

Start Point

X axis

(c) Circular interpolation with radius designation form

In this method, operation starts at the current position, and it does circular interpolation to the target position along the
circular path which has a radius of the value specified in the radius. In the figure below, the current position corresponds
to the axes group coordinate at the start of the command, the diameter corresponds to the X coordinate input for the
AuxPoint, and the target position corresponds to the relative coordinate input for the EndPoint.

Y
axis

Radius
(AuxPoint)

EndPoint

StartPoint

X axis
(5) Refer to chapter 8.4.7 circular interpolation control in motion controller’s manual for more details.
(6) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(7) Velocity input can be set to 0 or changed.
(8) Example program
This example is to set the center point specification method when the current command position is (1000, 1000) (set the relative
position from the current position to the center point to set: 1000, 1000), and move clock-wise to perform circular interpolation
to the target position (set the relative position from the current position to the target position: 0, 0).
(d) Function block setting

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Center point

End point

(e) Function block setting

%MX1

MC_MoveCircularRelative2D.Done

MC_MoveCircularRelative2D.Busy

MC_MoveCircularRelative2D.Active

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6.7.10 Synchronization setting of conveyor belt (MC_TrackConveyorBelt)

Motion Function Block

MC_TrackConveyorBelt
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT ConveyorAxis Busy BOOL
ARRAY[0..5] OF LREAL[ ] ConveyorOrigin Active BOOL
ARRAY[0..5] OF LREAL[ ] ObjectPosition Error BOOL
UINT CoordSystem ErrorID WORD
UINT BufferMode

Input-Output
Set the group to perform Conveyor Belt Synchronization.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
Give the conveyor belt synchronized setting command on the axes group in the
BOOL Execute
rising Edge.
UINT ConveyorAxis Set the conveyor axis.(1 ~ 32 : Axis 1~Axis 32)
LREAL[] ConveyorOrigin Enter the position from the MCS home position to the conveyor origin point.
LREAL[] ObjectPosition Input the conveyor home position to the object to work on.
UINT CoordSystem Set the coordinate system type.( 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
BOOL Done Indicate the PCS setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block sets conveyor belt synchronized operation for the axes group designated by AxesGroup input.
(2) This motion function block is not directly involved in operation. When this function block is executed, the coordinate system
operation using the PCS coordinate system is synchronized to the designated conveyor belt axis.
(3) ConveyorAxis can be set to between 1 and 32. An axis belonging to the axes group set as AxesGroup cannot be designated.
(4) The operation parameter of the axis designated as ConveyorAxis must be in mm/inch.
(5) Infinite running repeat must be set for the operation parameter of the axis designated as ConveyorAxis
(6) Synchronized conveyor operation is terminated by performing coordinate system operation using the PCS coordinate system or
performing PCS setting with MC_SetCartesianTransform function block.
(7) Refer to chapter 8.4.9 synchronized conveyor operation in motion controller’s manual for more details

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6.7.11 Synchronization setting of the rotary table (MC_TrackRotaryTable)

Motion Function Block

MC_TrackRotaryTable
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT RotaryAxis Busy BOOL
ARRAY[0..5] OF LREAL[ ] RotaryOrigin Active BOOL
ARRAY[0..5] OF LREAL[ ] ObjectPosition Error BOOL
UINT CoordSystem ErrorID WORD
UINT BufferMode

Input-Output
Set the group to perform Rotary table synchronization.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
Give the conveyor belt synchronized setting command on the axes group in the
BOOL Execute
rising Edge.
UINT RotaryAxis Set the rotary table axis.(1 ~ 32 : Axis 1~Axis 32)
LREAL[] RotaryOrigin Enter the position from the MCS home position to the rotary table origin point.
LREAL[] ObjectPosition Input the rotary table home position to the object to work on.
UINT CoordSystem Set the coordinate system type.( 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
Output
BOOL Done Indicate the PCS setting is successfully completed.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block sets rotary table synchronized operation for the axes group designated by AxesGroup input.
(2) This motion function block is not directly involved in operation. When this function block is executed, the coordinate system
operation using the PCS coordinate system is synchronized to the designated conveyor belt axis.
(3) RotaryAxis can be set to between axis 1 and axis 32 belonging to the axes group set as AxesGroup cannot be designated.
(4) The operation parameter of the axis designated as RotaryAxis must be in mm/inch.
(5) Infinite running repeat must be set for the operation parameter of the axis designated as RotaryAxis
(6) Synchronized rotary table operation is terminated by performing coordinate system operation using the PCS coordinate system
or performing PCS setting with MC_SetCartesianTransform function block.
(7) Refer to chapter 8.4.10 synchronized rotary table operation in motion controller’s manual for more details

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6.7.12 JOG operation of the coordinate system (LS_RobotJog)

Function Block type

LS_RobotJog
BOOL Enable Enabled BOOL
UINT AxesGroup AxesGroup UINT
BOOL Low_High Busy BOOL
BOOL Pos_X Error BOOL
BOOL Neg_X ErrorID WORD
BOOL Pos_Y
BOOL Neg_Y
BOOL Pos_Z
BOOL Neg_Z
BOOL Pos_A
BOOL Neg_A
BOOL Pos_B
BOOL Neg_B
BOOL Pos_C
BOOL Neg_C

Input-Output
UINT AxesGroup Specify the axis group to be commanded. (1 ~ 16: 1Group ~ 16 Group)
Input
BOOL Enable While the input is ON, the JOG operation command is sent to the relevant axis group.
Set the JOG speed in JOG operation.
BOOL Low_High
(0: Jog low speed operation, 0: Jog high speed operation)
BOOL Pos_X Set the linear operation direction at direction in jog (X axis + direction)
BOOL Neg_X Set the linear operation direction at direction in jog (X axis- direction)
BOOL Pos_Y Set the linear operation direction at direction in jog (Y axis + direction)
BOOL Neg_Y Set the linear operation direction at direction in jog (Y axis - direction)
BOOL Pos_Z Set the linear operation direction at direction in jog (Z axis + direction)
BOOL Neg_Z Set the linear operation direction at direction in jog (Z axis - direction)
Set the rotary operation direction at JOG operation. (X-axis counterclockwise
BOOL Pos_A
rotation)
BOOL Neg_A Set the rotary operation direction at JOG operation. (X-axis clockwise rotation)
Set the rotary operation direction at JOG operation. (Y-axis counterclockwise
BOOL Pos_B
rotation)
BOOL Neg_B Set the rotary operation direction at JOG operation. (Y-axis clockwise rotation)
Set the rotary operation direction at JOG operation. (Z -axis counterclockwise
BOOL Pos_C
rotation)
BOOL Neg_C Set the rotary operation direction at JOG operation. (Z -axis clockwise rotation)
Output
BOOL Enabled It indicates that the axis group is in the process of JOG operation.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

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(1) This motion function block executes the JOG operation of the coordinate system for the corresponding axis group.
(2) Jog is a manual operation function for test and is used to confirm the position address for system operation, wiring condition
check, and teaching. Jog can be used by dividing the speed into high speed and low speed.
(3) It can be respectively applied to both high speed and low speed. If you change the value set in Low / High when the Enable
input is On (JOG operation status), the speed will change without stopping JOG operation.
(4) If both the forward (Pox_) / reverse (Neg_) inputs are set for the same axis, the axis will stop.

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6.7.13 Set path operation data (LS_SetMovePath)

Motion Function Block

LS_SetMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData PathData ARRAY[] OF BYTE
UINT Step Busy BOOL
UINT CommandType Active BOOL
UINT Mode Error BOOL
UINT CoordSystem ErrorID WORD
ARRAY[0..5] OF LREAL[ ] Positon
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to set the path operation data.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
BYTE[] PathData Set the location where the path data is stored.
Input
In the rising Edge, it sends the command for setting the path operation data to the
BOOL Execute
corresponding axis group.
Enter the step number of the path data.
UINT Step
(The step number is affected by the size of the data set in PathData.)
Select the type of path operation.
0: none
1: Linear interpolation operation for the absolute position of the coordinate system,
UINT CommandType 2: Linear interpolation operation for the relative position of the coordinate system
3: Circular interpolation operation for the absolute position of the coordinate
system, 4: Circular interpolation operation for the relative position of the coordinate
system
Select the method and path for circular interpolation operation of the coordinate
system
UINT Mode
0/1/2: Clockwise, Midpoint/Central point/Radius
3/4/5: counter-clockwise Midpoint/Central point/Radius
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
Enter the target position of the end point of the machine.
In the circular interpolation, the circular interpolation end point should be set in
Position [0] Position [1] Position [2].
LREAL[] Position
In the circular interpolation, the Central point/Waypoint should be set in Position [3]
Position [4] Position [5].
In the circular interpolation, the Radius should be in Position [3].
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]

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LREAL Deceleration Specify the maximum deceleration. [u/s2]

LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused

Output
BOOL Done Indicate that the path data setting is completed successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is the function block that sets the path data for the axis group specified in the AxesGroup input.
(2) The step value can be set from 0, and the size of one step is 96 Bytes.
(3) The path data is saved in the area of data set in PathData. The variable set in PathData should be set to 96 times or more of
the number of the steps to use.
(4) The CommandType value selects the operation method for the path operation. If the CommandType value is set to 0, it is
considered that the data for the corresponding step is not set during path operation.
(5) The Mode value sets the direction of the circular interpolation when performing the circular interpolation operation.
(6) The value of BufferMode should be set to 1(Buffered).
(7) Set position[] value to the TCP target position. Depending on the robot type, some Position variable areas may not be applied.
Data input in the unapplied areas is not reflected in coordinate system operation.
Variable Meaning Unit
Position[0] X axis position mm
Position[1] Y axis position mm
Position[2] Z axis position mm
Position[3] X axis rotation amoun degree
t
Position[4] Y axis rotation amoun degree
t
Position[5] Z axis rotation amount degree

(8) For more details, refer to Section 8.4.10, "Path Operation of the Coordinate System ".

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6.7.14 Delete path operation data (LS_ResetMovePath)

Motion Function Block

LS_ResetMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData Busy BOOL
UINT Step Active BOOL
Error BOOL
ErrorID WORD

Input-Output
Set the group to delete the path operation data.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
In the rising Edge, the command for deleting the path operation data is sent to the
BOOL Execute
corresponding axis group.
BYTE[] PathData Set the location where the path data is stored.
Enter the step number of the path data.
UINT Step
(The step number is affected by the size of the data set in PathData.)
Output
BOOL Done Indicate the deleting the path data is done successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

(1) This motion function block is the function block to delete the path data of the axis group specified in the AxesGroup input.
(2) The step value can be set from 0, and the size of one step is 96 Bytes.
(3) The path data is saved in the area of data set in PathData. The variable set in PathData should be set to 96 times or more of
the number of the steps to use.
(4) For more details, refer to Section 8.4.10, "Path Operation of the Coordinate System ".

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6.7.15 Read path operation data (LS_GetMovePath)

Motion Function Block

LS_GetMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData Busy BOOL
UINT Step Active BOOL
Error BOOL
ErrorID WORD
CommandType UINT
Mode UINT
CoordSystem UINT
Positon ARRAY[0..6] OF LREAL[ ]
Velocity LREAL
Acceleration LREAL
Deceleration LREAL
Jerk LREAL
BufferMode UINT
TransitionMode UINT
TransitionParameter LREAL

Input-Output
Set the group to set the path operation data.
UINT AxesGroup
(1 ~ 16: 1Group ~ 16 Group)
Input
In the rising Edge, it sends the command for setting the path operation data to the
BOOL Execute
corresponding axis group.
BYTE[] PathData Set the location where the path data is stored.
Enter the step number of the path data.
UINT Step
(The step number is affected by the size of the data set in PathData.)
Output
BOOL Done Indicate that the path data setting is completed successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
Output the type of path operation.
0: none
1: Linear interpolation operation for the absolute position of the coordinate system,
UINT CommandType
2: Linear interpolation operation for the relative position of the coordinate system
3: Circular interpolation operation for the absolute position of the coordinate system,
4: Circular interpolation operation for the relative position of the coordinate system
UINT Mode Output the operation mode.
UINT CoordSystem Output the coordinate system type.(1:MCS 2:PCS)
LREAL[] Position Output the target position.
LREAL Velocity Output the maximum speed of the path. [u/s]

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LREAL Acceleration Output the maximum acceleration. [u/s2]

LREAL Deceleration Output the maximum deceleration. [u/s2]
LREAL Jerk Output the change rate of acceleration/deceleration. [u/s3]

Specify the sequential operation setting of motion function block.

UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused

(1) This motion function block is the function block to read the path data to the axis group specified in AxesGroup input.
(2) The step value can be set from 0, and the size of one step is 96 Bytes.
(3) The path data is saved in the area of data set in PathData. The variable set in PathData should be set to 96 times or more of
the number of the steps to use.
(4) For more details, refer to Section 8.4.10, "Path Operation of the Coordinate System ".

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6.7.16 Perform path operation (LS_RunMovePath)

Motion Function Block

LS_RunMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData Busy BOOL
UINT StartStep Active BOOL
UINT EndStep CommandAborted BOOL
Error BOOL
ErrorID WORD
CurStep UINT

Input-Output
UINT AxesGroup Set the group to run the path operation data. (1 ~ 16: 1Group ~ 16 Group)
Input
In the rising Edge, it sends the command for setting the path operation data to the
BOOL Execute
corresponding axis group.
BYTE[] PathData Set the location where the path data is stored.
Enter the start step number of the path data.
UINT StartStep
(The step number is affected by the size of the data set in PathData.)
Enter the end step number of the path data.
UINT EndStep
(The step number is affected by the size of the data set in PathData.)
Output
BOOL Done Indicate that the path data setting is completed successfully.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that machine information setting of the current axis is running.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.
UINT CurStep Output the currently running step number.

(1) This motion function block is the function block to execute the path operation for the axis group specified in the AxesGroup
input.
(2) The step value can be set from 0, and the size of one step is 96 Bytes.
(3) The path data is saved in the area of data set in PathData. The variable set in PathData should be set to 96 times or more of
the number of the steps to use.
(4) The difference between StartStep and EndStep cannot be set to 100 or more. (Up to 100 step operations can be executed at
one time.)
(5) If the CommandType of path data is 0 during the path operation, the operation is terminated even if EndStep is not reached.
(6) If the path operation is executed, the current step number in operation is output to the CurStep.
(7) For more details, refer to Section 8.4.10, "Path Operation of the Coordinate System ".

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6.7.17 3D Circular interpolation operation for absolute position of coordinate system

(MC_MoveCircularAbsolute3D)

Motion Function Block

MC_MoveCircularAbsolute3D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do absolute position circular interpolation operation. (1 ~ 16: 1Group
UINT AxesGroup
~ 16 Group)
Input
Give absolute position circular interpolation operation command to the relevant
BOOL Execute
group in the rising Edge.
UINT CircMode Circular interpolation method setting [0: Midpoint, 1: Central point, 2: Radius]
Specify the position of auxiliary point depending on the circular interpolation method
LREAL[ ] AuxPoint
in an absolute coordinate.
LREAL[ ] EndPoint Set the circular end point as an absolute coordinate.
BOOL PathChoice Circular route selection(0: clockwise direction, 1: counter-clockwise direction)
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the number of error occurred while motion function block is running.

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(10) This motion function block issues absolute position 3D circular interpolation command based on coordinate system on the axis
group designated by AxesGroup input.
(11) Unlike MC_MoveCircularAbsolute2D function block that performs circular interpolation on the XY plane,
MC_MoveCircularAbsolute3D function block performs circular interpolation on 3D coordinates according to AuxPoint and
EndPoint.
(12) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary point
input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular interpolation is
operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise direction.
(13) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, respectively.
(14) Set the circular interpolation method in CircMode input. The circular interpolation methods corresponding to CircMode values
are as follows.
(a) Circular interpolation of midpoint specifying method (BORDER, CircMode = 0) in this method, operation starts at command
executing current position and it does circular interpolation through the specified position of the central point to the target
position. In the figure below, the start position corresponds to the coordinate system position at the start of the command,
the midpoint corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the absolute
coordinate input for the EndPoint.

Axis
Y
Start
point

EndPoint

AuxPoint

Axis X
(b) Circular Interpolation Using Center Point Specification (CircMode = 1)
This method performs circular interpolation to the target position by starting operation at the current position executed
command, and following a circular trajectory of which diameter corresponds to the distance to the designated center point.
In the figure below, the current position corresponds to the axes group coordinate at the start of the command, the center
point corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the absolute coordinate
input for the EndPoint. In the center point method, the start position, center point position, and target position cannot be
located on the same straight line.

Axis
Y
Start
position
AuxPoint

EndPoint

Axis X

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(c) Circular interpolation control using radius designation method (CircMode = 2)

Starts operation from the current position where the command is executed, and performs circular interpolation to the target
position along the trajectory of a circular arc whose radius is the specified radius. In the radius designation method, the
vertical vector of the arc is set in AuxPoint during circular interpolation. The length of the vertical vector is set to the radius
of the circle. When AuxPoint is set to (50,0,0), circular interpolation set to radius 50 is performed on the YZ plane. In the
figure below, the coordinates of the axis group at the start of the command correspond to the current position, and the
coordinates entered in the EndPoint are matched to the target point as absolute values.

Axis Y

Start
position

EndPoint

AuxPoint

Axis X

(15) Refer to chapter 8.4.11 3D circular interpolation control in motion controller’s manual for more details.
(16) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(17) Velocity input can be set to 0 or changed.
(18) Example program
This example is to set the center point at (0, 75, -580) when the current command position is MCS (0,150,-580), and perform
circular interpolation to the target position MCS(0,0,-580) by moving in a clockwise direction.

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(c) Function block setting

CenterPoint

EndPoint

(d) Timing diagram

%MX1

MC_MoveCircularAbsolute2D.Done

MC_MoveCircularAbsolute2D.Busy

MC_MoveCircularAbsolute2D.Active

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6.7.18 3D Circular interpolation operation for Incremental position of coordinate system

(MC_MoveCircularRelative3D)

Motion Function Block

MC_MoveCircularRelative3D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

Input-Output
Set the group to do relative position circular interpolation operation. (1 ~ 16: 1Group
UINT AxesGroup
~ 16 Group)
Input
Give relative position circular interpolation operation command to the relevant group
BOOL Execute
in the rising Edge.
UINT CircMode Circular interpolation method setting [0: Midpoint, 1: Central point, 2: Radius]
Specify the position of auxiliary point depending on the circular interpolation method
LREAL[ ] AuxPoint
as the relative coordinate based on the starting point.
Specify the end point of circular arc as the relative coordinate based on the starting
LREAL[ ] EndPoint
point.
Circular route selection
BOOL PathChoice
0: clockwise direction, 1: counter-clockwise direction
LREAL Velocity Specify the maximum speed of the route. [u/s]
LREAL Acceleration Specify the maximum acceleration. [u/s2]
LREAL Deceleration Specify the maximum deceleration. [u/s2]
LREAL Jerk Specify the change rate of acceleration/deceleration. [u/s3]
UINT CoordSystem Set the coordinate system type (1:MCS 2:PCS)
Specify the sequential operation setting of motion function block.
UINT BufferMode
(Refer to 6.1.4.BufferMode input)
UINT TransitionMode Unused
LREAL TransitionParameter Unused
Output
BOOL Done Indicate whether to reach the specified position.
BOOL Busy Indicate that the execution of motion function block is not completed.
BOOL Active Indicate that whether or not motion function block is controlling the group.
BOOL CommandAborted Indicate that the current motion function block is interrupted while it is running.

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BOOL Error Indicates whether an error occurs or not.

WORD ErrorID Output the number of error occurred while motion function block is running.
(9) This motion function block issues Incremental position 3D circular interpolation command based on coordinate system on the
axis group designated by AxesGroup input.
(10) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary point
input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular interpolation is
operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise direction.
(11) At AuxPoint and EndPoint input, designate the relative position of auxiliary points to refer to for circular interpolation.
(12) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, respectively.
(13) Set the circular interpolation method in CircMode input. The circular interpolation methods corresponding to CircMode values
are as follows.
(d) Circular interpolation of midpoint specifying method (BORDER, CircMode = 0) In this method, operation starts at the
current position and it does circular interpolation through the pecified position of the central point to the target position. In
the figure below, the current position corresponds to the coordinate system position at the start of the command, the
midpoint corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative
coordinate input for the EndPoint.

Axis Y

Start
point

EndPoint

AuxPoint

Axis X

(e) Circular interpolation of central point specifying method in this method, operation starts at the current position, and it does
circular interpolation to the target position along the circular path, which has a radius of the distance to the specified central
position. In the figure below, the current position corresponds to the axes group coordinate at the start of the command,
the center point corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative
coordinate input for the EndPoint.

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Axis Y

AuxPoint

EndPoint
Start
point

Axis X

(f) Circular interpolation with radius designation form

In this method, operation starts at the current position, and it does circular interpolation to the target position along the
circular path which has a radius of the value specified in the radius. In the figure below, the coordinates of the axis group
at the start of the command correspond to the current position, and the coordinates entered in the EndPoint are matched
to the target point as incremental values. In the radius designation method, the vertical vector of the arc is set in AuxPoint
during circular interpolation. The length of the vertical vector is set to the radius of the circle. When AuxPoint is set to
(50,0,0), circular interpolation set to radius 50 is performed on the YZ plane.

Axis Y

AuxPoint

EndPoint
Start
point

Axis X
(14) Refer to chapter 8.4.11 3D circular interpolation control in motion controller’s manual for more details.
(15) If the function block is re-executed (Execute input is On) before the instruction is terminated, the changed parameters are
applied.
Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(16) Velocity input can be set to 0 or changed.
(17) Example program
This example is to set the center point specification method when the current command position is (1000, 1000) (set the relative
position from the current position to the center point to set: 1000, 1000), and move clock-wise to perform circular interpolation
to the target position (set the relative position from the current position to the target position: 0, 0).

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(f) Function block setting

Center point

End point

(g) Timing diagram

%MX1

MC_MoveCircularRelative2D.Done

MC_MoveCircularRelative2D.Busy

MC_MoveCircularRelative2D.Active

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6.8 NC Control Function Block

6.8.1 Specify NC program (NC_LoadProgram)

Motion Function Block

NC_LoadProgram
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
STRING ProgramName Busy BOOL
UINT LoadMode Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute Set programs to run in the rising Edge.
STRING ProgramName Set the name of the program to be executed.
UINT LoadMode Unused (Only‘0’is settable.)
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block to specify the NC program to be executed when NC control is performed.
(2) When the program to be operated by the channel set in NC channel is set to ProgramName and the function block is executed,
the program is designated as the one to be executed.

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6.8.2 Specify block operation (NC_BlockControl)

Motion Function Block

NC_BlockControl
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
BOOL SingleBlock Busy BOOL
BOOL OptionalStop Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable While the input is enabled, the corresponding channel becomes the status
of Single Block or Optional Stop.
BOOL SingleBlock Set the Single Block operation signal.
BOOL OptionalStop Set the Optional Stop operation signal.
Output
BOOL Enabled Indicate the state of Block Control completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block determines the method to execute the program under the NC control.
(2) If SingleBlock is set to '1', NC_CycleStart executes one block at a time and stops after execution. If SingleBlock becomes '1'
during the automatic operation and NC_BlockControl function block is executed, it will be stopped after terminating the currently
executing block.
(3) If OptionalStop is set to '1', and M01 is commanded during the program, it will wait until NC_CycleStart function block is
executed again.
(4) When both SingleBlock and OptionalStop are set to '1', SingleBlock setting is applied.

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6.8.3 Reset (MC_Reset)

Motion Function Block

NC_Reset
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute In the rising Edge, the NC is reset.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is to make the NC reset state under the NC control.
(2) If NC_Reset is executed during the automatic operation, it stops the automatic operation and changes into the reset state.
(3) The Reset state is as follows.
Item Status
Setting Data Offset Value Hold
Parameter Hold
Various Data Program in Memory Hold
Contents in the buffer storage MDI: hold
Cancel the rest
Display of Sequence Number Hold
One shot G code Cancel
Modal G code Hold
F Hold
S, T, M Hold
K (Number of repeats) Cancel
Work coordinate value Hold
Action in operation Movement Cancel
Dwell Cancel
Issuance of M, S, T code Cancel
Tool Length compensation MDI: hold
Parameter the rest
Cutter compensation MDI: hold
Cancel the rest
Storing called subprogram number MDI: hold
Cancel the rest

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Item Status
Output Signal CNC Alarm signal AL Extinguish if there is no
cause for the alarm
Reference position return completion Hold
LED Cancel(Emergency
Stop)
S, T, B Code Hold
M Code Cancel
M, S, T strobe signal Cancel
Spindle revolution signal(S analog signal) Hold
CNC ready signal MA Hold
Servo ready signal SA ON
Cycle Start LED Cancel
Feed hold LED Cancel

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6.8.4 Emergency stop (NC_Emergency)

Motion Function Block

NC_Emergency
BOOL Enable Status BOOL
UINT NcChannel NcChannel UINT
Valid BOOL
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable The emergency stop is executed while the input is '1'.
Output
BOOL Status Indicate the status of the emergency stop.
BOOL Valid Indicate the validity of the function block output. (Same as the Status output)
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is to execute the emergency stop on the corresponding NC channel under the NC control.
(2) If the emergency stop is executed, the current operation must be stopped immediately.

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6.8.5 Start automatic operation (NC_CycleStart)

Motion Function Block

NC_CycleStart
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute Start the automatic operation in the rising Edge.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is to execute the automatic operation on the corresponding NC channel under the NC control.
(2) The program set in NC_LoadProgram is automatically operated.
(3) When the automatic operation is stopped due to M00, M01 (Optional Stop) and single block, the automatic operation is
restarted.

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6.8.6 Feed hold (NC_FeedHold)

Motion Function Block

NC_FeedHold
BOOL Enable Status BOOL
UINT NcChannel NcChannel UINT
Valid BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable The NC channel will be in Feed Hold status while the input is enabled.
Output
BOOL Status Indicate the Feed Hold status.
BOOL Valid Indicate the validity of the function block output.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is to make the Feed Hold command to the corresponding NC channel under the NC control.
(2) If the NC_FeedHold is executed during the automatic operation, the automatic operation is stopped.
(3) If the NC_CycleStart is performed during the execution of the NC_FeedHold command, the NC_CycleStart command is
ignored.

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6.8.7 NC Homing (NC_Home)

Motion Function Block

NC_Home
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
UINT NcAxis Busy BOOL
UINT ReferenceNum Active BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute Start the automatic operation in the rising Edge.
UINT NcAxis Set the channel axis. (1~10: X=1, Y=2, … B=8, C=9, S=10)
UINT ReferenceNum Select the origin type. 1~4: first origin ~ fourth origin
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Active Indicate that the current Function Block is controlling the axis.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block performs homing to the corresponding NC channel under the NC control.
(2) Homing to the 1st origin, 2nd origin, 3rd origin, and 4th origin is executed according to the values set in ReferenceNum. The
origin coordinates can be set for each axis parameters of NC parameters in XG5000.

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6.8.8 Rapid traverse override (NC_RapidTraverseOverride)

Motion Function Block

NC_RapidTraverseOverride
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
LREAL VelFactor Busy BOOL
LREAL AccFactor Error BOOL
LREAL JerkFactor ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable Execute the Rapid Traverse Override operation on the channel while the
input is enabled.
LREAL VelFactor Specify the override rate of the speed. (1.0=100%)
LREAL AccFactor Specify the override rate of acceleration/deceleration.
LREAL JerkFactor Specify the override ratio of the rate of change for acceleration.
Output
BOOL Enabled Indicate that the override rate was applied successfully.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block makes the Rapid Traverse Override command for the corresponding NC channel under the NC
control.
(2) Specify the speed override ratio for the VelFactor input. If the specified value is 0.0, the axis stops.
(3) The default value of each factor is 1.0, which means 100% of the command speed of the currently executing function block.
(4) Specify the acceleration / deceleration for the AccFactor input and the override rate of the jerk (rate of change of acceleration)
for the JerkFactor input, respectively.
(5) Negative numbers cannot be entered into each factor.

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6.8.9 Cutting feed override (NC_CuttingFeedOverride)

Motion Function Block

NC_CuttingFeedOverride
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
LREAL VelFactor Busy BOOL
LREAL AccFactor Error BOOL
LREAL JerkFactor ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable Execute the Cutting Feed Override operation on the channel while the input
is enabled.
LREAL VelFactor Specify the override rate of the speed. (1.0=100%)
LREAL AccFactor Specify the override rate of acceleration/deceleration.
LREAL JerkFactor Specify the override ratio of the rate of change for acceleration.
Output
BOOL Enabled Indicate that the override rate was applied successfully.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block makes the Cutting Feed Override command for the corresponding NC channel under the NC control.
(2) Specify the speed override ratio for the VelFactor input. If the specified value is 0.0, the axis stops.
(3) The default value of each factor is 1.0, which means 100% of the command speed of the currently executing function block.
(4) Specify the acceleration / deceleration for the AccFactor input and the override rate of the jerk (rate of change of acceleration)
for the JerkFactor input, respectively.
(5) Negative numbers cannot be entered into each factor.

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6.8.10 Spindle override (NC_SpindleOverride)

Motion Function Block

NC_SpindleOverride
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
LREAL VelFactor Busy BOOL
LREAL AccFactor Error BOOL
LREAL JerkFactor ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable Execute the Spindle Override operation on the channel while the input is
enabled.
LREAL VelFactor Specify the override rate of the speed. (1.0=100%)
LREAL AccFactor Specify the override rate of acceleration/deceleration.
LREAL JerkFactor Specify the override ratio of the rate of change for acceleration.
Output
BOOL Enabled Indicate that the override rate was applied successfully.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block makes the Spindle Override command for the corresponding NC channel under the NC control.
(2) Specify the speed override ratio for the VelFactor input. If the specified value is 0.0, the axis stops.
(3) The default value of each factor is 1.0, which means 100% of the command speed of the currently executing function block.
(4) Specify the acceleration / deceleration for the AccFactor input and the override rate of the jerk (rate of change of acceleration)
for the JerkFactor input, respectively.
(5) Negative numbers cannot be entered into each factor.

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6.8.11 M Code operation completed (NC_McodeComplete)

Motion Function Block

NC_McodeComplete
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute Set the completion of the M Code operation on the corresponding the
channel.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block makes the completion command of the M Code operation for the corresponding NC channel under
the NC control.
(2) It is the command to check the M code on the corresponding channel and set that the M code operation is completed.

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6.8.12 S Code operation completed (NC_ScodeComplete)

Motion Function Block

NC_ScodeComplete
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute Set the completion of the S Code operation on the corresponding the
channel.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block makes the completion command of the S Code operation for the corresponding NC channel under
the NC control.
(2) It is the command to check the S code on the corresponding channel and set that the S code operation is completed.

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6.8.13 T Code operation completed (NC_TcodeComplete)

Motion Function Block

NC_ScodeComplete
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute Set the completion of the T Code operation on the corresponding the
channel.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block makes the completion command of the T Code operation for the corresponding NC channel under
the NC control.
(2) It is the command to check the T code on the corresponding channel and set that the T code operation is completed.

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6.8.14 Read NC parameter (NC_ReadParameter)

Motion Function Block

NC_ReadParameter
BOOL Enable Valid BOOL
UINT NcChannel NcChannel UINT
UINT NcAxis Busy BOOL
INT ParameterGroup Error BOOL
INT ParameterNumber ErrorID WORD
Value LREAL

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Enable The relevant parameters are output while the input is enabled.
UINT NcAxis Set the channel axis. (1~10: X=1, Y=2, … B=8, C=9, S=10)
If it is set to 0, ‘Read Channel Parameters’ will be executed.
INT ParameterGroup Specify the group of the parameters to read.
INT ParameterNumber Specify the group number of the parameters to read.
Output
BOOL Vaild Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
LREAL Value Output the values of the parameters.
(1) This motion function block is to read and output the parameters of the channel and channel / axis of the corresponding channel.
(2) While the Enable input is active, the values of the relevant parameters are output continuously.
(3) ParameterGroup input specifies the parameter group number to read.
(4) ParameterNumber input specifies the number in the group of the parameters to be read.
(5) The group number and the number in the group of each parameter are as follows.
Parameter Group No. Item Description
1. Channel 1. Standard 1 Target machining quantity Set the target machining quantity.
Parameter settings (0 ~ 2,147,483,647)
It is possible to write NC parameters during NC
channel automatic operation.
2 Target machining quantity at M99 Set the target machining quantity for repeated
repeated machining machining with M99. If the set value matches the
current machining quantity, the cycle automatically
stops.(0 ~ 2,147,483,647)
It is possible to write NC parameters during NC
channel automatic operation.
3 Check of decimal point Set whether to check decimal point of the NC
program.
0: Decimal point check
(Mm if there is a decimal point, um if there is no
decimal point)
1: No decimal point check (mm)
4 Keep workpiece coordinate Set whether to keep the workpiece coordinate
system system when resetting.
0:Hold
1: Do not hold

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Parameter Group No. Item Description

1. Channel 1. Standard 5 Whether to call the macro when Set whether to call the macro program (9000.nc ~
Parameter settings the T code is commanded 9009.nc) when the T code is commanded.
0: Do not call
1: Call
6 Dwell Method Set the dwell function (G04) to use the data
corresponding to X, P as time or the number of
revolutions of the spindle.
If the data is set to the number of revolutions of the
spindle, it is applied in the status of feed per
revolution (G95).
0: times
1: Rotation number
7 Select a progress block at reset Set whether to initialize to the start block of the
program at reset.
※If you want to set to 0 (keep the current block), the
parameters of "Keep workpiece coordinate system"
should be set to 0 (keep).
0: Keep the current block
1: Initialize to the start block of the main program
2: Initialize to the current block of the main program
It is possible to write NC parameters during NC
channel automatic operation.
8 Whether or not to search the The number of buffers that can store the program’s
Statement Number Statement Number (N__) is limited to 1,000 in the
system.
This buffer is needed if the program changes the
sequence using a GOTO statement.
If more than 1,000 blocks have the N__ command,
an alarm will occur.
This parameter is used to input whether or not to
execute such Statement Number search. Because
high- capacity CAM programs do not have GOTO
using the Statement Number and in the majority of
cases, there are more than 1,000 Statement
Numbers, you should set this parameter as 1.
0: Search
1: Do not search
12 Minimum command unit When decimal point check is applied, set the
minimum unit of the commanded value.
(0 ~ 0.999mm)
18 Whether to use G22 No 0: ‘No Travelling Area’ is valid.
Travelling Area 1: ‘No Travelling Area’ is invalid.
It is possible to write NC parameters during NC
channel automatic operation.
19 Set the inner/outer side of G22 0: Inside
No Travelling Area 1: Outside
20 Whether to use the 3rd ‘No 0: ‘No Travelling Area’ is valid.
Travelling Area’ 1: ‘No Travelling Area’ is invalid.
It is possible to write NC parameters during NC
channel automatic operation.
21 Reverse buffer operation size Set the buffer size required for NC reverse operation.
It is possible to write NC parameters during NC
channel automatic operation.

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Parameter Group No. Item Description

1. Channel 1. Standard 22 Rotary axis of Cylindrical In the cylindrical interpolation mode, the axis maps
Parameter settings interpolation the axis of rotation during the circular interpolation.
The axes are X, Y, Z and perform the circular
interpolation by mapping the axis of rotation to the
selected axis. For example, if the axis of rotation is
mapped to the X axis under the state of the XY plane
(G17), the width becomes the axis of rotation and the
height becomes Y axis. When ZX (G18) is selected
as the plane, the width becomes the Z axis and the
height becomes the axis of rotation. However, if you
set the plane to YZ (G19), you cannot perform the
circular interpolation on the commanded axis of
rotation.
0: X axis, 1: Y axis, 2: Z axis
23 Linear axis for interpolating the 0: Unused
polar coordinate 1: X, 2: Y, 3: Z, 4: A, 5: B, 6: C, 7: U, 8: V, 9: W
24 Rotary axis for interpolating the 0: Unused
polar coordinate 1: X, 2: Y, 3: Z, 4: A, 5: B, 6: C, 7: U, 8: V, 9: W
25 Main spindle axis number Set the number of an axis to be used as the main
spindle axis in the NC channel. Set the system that
does not use the spindle axis to 0. To automatically
control spindle commands in the NC function
module, set it exactly the same as the axis number
connected to the NC S axis.
0: Unused
1 ~ 36: Axis 1 ~ Axis 36
33 Monitoring time for in-position 0 ~ 65,535ms
completion It is possible to write NC parameters during NC
channel automatic operation.
34 The spindle operation of the 0: Automatic operation continues
spindle axis. How to treat M/S- 1: Operation continues after completing commands
codeNote1) It is possible to write NC parameters during NC
channel automatic operation.
2. Circular 1 Regenerate the circular center Set whether to recreate the central point of the arc
milling setting when the circular alarm occurs without generating an arc alarm when the distance
Setting between the start point and the end point exceeds
the tolerance of the difference between the two radii
under I, J, K circular commands.
0: An alarm occurs.
1: The central point of the arc is regenerated.
2 Speed-limiting function for the 0: Unused
circular milling ON/OFF 1: used
It is possible to write NC parameters during NC
channel automatic operation.
3 Tolerance of arc radius Set the tolerance of the difference between the two
radii at the start point and the end point under the
circular arc command. If this value is large, the
accuracy of the end part of the arc may be degraded.
When set to 0, it is recognized as 0.001.
(0~ 1 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
5 Circular radius with the speed- (0 ~ 10,000 unit, real number)
limiting function for the arc It is possible to write NC parameters during NC
machining channel automatic operation.

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Parameter Group No. Item Description

6 Upper cutting speed limit of the The maximum speed is limited to the set value for
circular milling the circular arc below "Circular radius with the speed-
limiting function for the circular milling".
It is possible to write NC parameters during NC
channel automatic operation.
(0 ~ 10,000 unit/min, real number)
7 Lower cutting speed limit of the If “Speed-limiting function for the circular milling
circular milling ON/OFF” is set to ON, the cutting speed is limited to
the set value or more.
(0 ~ 10,000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
9 Circular milling acceleration Set the acceleration at the circular milling.
It is possible to write NC parameters during NC
channel automatic operation.
10 Circular milling deceleration Set the deceleration at the circular milling.
It is possible to write NC parameters during NC
channel automatic operation.
11 Circular milling jerk Set the jerk at the circular milling.
It is possible to write NC parameters during NC
channel automatic operation.

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Parameter Group No. Item Description

1. Channel 3. Cutting feed 1 Set the upper speed limit of the If the cutting speed exceeding the set value is
Parameter setting cutting feed commanded, the cutting speed is limited to the set
value and an alarm occurs.
(0 ~ 100,000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
2 Set the lower speed limit of the It is applied only when the cutting speed is not
cutting feed commanded in the feed mode per minute.
(0 ~ 100,000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
4 How to Accelerate/Decelerate 1: Acceleration / deceleration before interpolation
Interpolation Operation
5 Corner speed limit function 0: Unused
mode setting 1: Angle difference mode
2: Speed difference mode
It is possible to write NC parameters during NC
channel automatic operation.
6 Acceleration and deceleration 0: Line type
type of the cutting feed 1: S type
7 Operating method of the When executing the consecutive blocks, it creates the
continuous blocks for connecting trajectory that draws an arc on the corner
acceleration / deceleration of the connecting trajectory with the speed set with the
before interpolation next block. 1: When it is set to Buffered, the circular
arc is not inserted.
1: Buffered
2: Blending Low
3: Blending Previous
4: Blending Next
5: Blending High
9 Acceleration at the time of Acceleration at the time of cutting feed
cutting feed (before It is possible to write NC parameters during NC
interpolation) channel automatic operation.
10 Deceleration at the time of Deceleration at the time of cutting feed
cutting feed (before It is possible to write NC parameters during NC
interpolation) channel automatic operation.
11 Jerk at the time of cutting feed Jerk at the time of cutting feed
(before interpolation) It is possible to write NC parameters during NC
channel automatic operation.
18 Allowable angle setting (angle Set the allowable angle in angle mode.
mode) It is possible to write NC parameters during NC
channel automatic operation.
19 Allowable speed difference Set the allowable speed difference in speed difference
setting (speed difference mode) mode.
It is possible to write NC parameters during NC
channel automatic operation.
20 Deceleration speed setting Setting the Acc. speed.
It is possible to write NC parameters during NC
channel automatic operation.
21 Speed multiplier with respect to Set the speed multiplier for the linear axis of the rotary
the linear axis of the axis of axis in speed difference mode.
rotation(speed difference It is possible to write NC parameters during NC
mode) channel automatic operation.
22 Cutting feed acceleration and Set the time constant for acceleration/deceleration
deceleration time constant after interpolation in cutting feed.

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Parameter Group No. Item Description

(acceleration and deceleration
after interpolation)
4. Rapid 1 Feed rate of rapid traverse In dry run mode, set the feed rate of the G00 block to
traverse (G00) block in dry run mode the manual feed rate or the rapid feed rate.
setting 0: Dry run speed
1: Rapid feed rate
7. Automatic 1 Start section of automatic Sets the override area (Ls) of the starting block that
corner corner override setting forms the corner when an automatic corner override
override command is commanded.

(0 ~ 999.999 mm, 0 ~ 99.999 inch, real number)

2 End section of automatic corner Sets the override area (Le) of the ending block that
override setting forms the corner when an automatic corner override
command is commanded.
(0 ~ 999.999 mm, 0 ~ 99.999 inch, real number)
3 Scale of Auto Corner Override Set the multiplier applied to the feed rate in the
setting automatic corner override section.
※ Auto Corner Override Feed rate = Current
Command Feed rate x Multiplier x 0.01
(10~100%, real number)
5 The angle between the Sets the maximum angle of a corner that determines
automatic corner override which blocks apply automatic corner override.
settings (-999.999 ~ 999.999 deg, real number)
6 The type of automatic corner Sets the application type of automatic corner override.
override settings If you set Always Apply, the automatic corner override
function is applied by judging the angle of the corner
in every block.
0: Applies only to inner corners for tool radius
compensation
1: always applied
7 Minimum rate of internal circular Set the minimum rate of internal circular cutting speed.
cutting speed The internal circular cutting speed is determined by
Rc/Rp * F during circular arc feed during
compensation. If Rc/Rp is less than or equal to the set
value, it is limited to the set value.
Programmed path

Tool
center
path

(0.01~1.00%, real number)

8 Automatic corner override This is an item to directly input the speed of the
velocity deceleration section of automatic corner override. If
the value is 0, the value obtained by multiplying the
current cutting speed (Feed) by the multiplier of the
automatic corner override setting is applied as an
override. If the command speed is smaller than this
value, it is fed at the command speed.
(0 ~ 99999.999 mm/min, 0 ~ 9999.999 inch/min, real
number)

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Parameter Group No. Item Description

8. Tool radius 129 How to apply the compensation Set the method of applying the compensation amount
Compensation value of the tool diameter of the tool diameter when compensating the tool
diameter.
0: Apply the diameter value
1: Apply the radius value
130 Compensation type of the tool Tool diameter Sets the type of traversing method at
diameter the beginning and end of the calibration.

0: Type 1(Bypass traverse)

1: Type 2(Direct traverse)
131 Whether to check the tool Set whether to check the tool interference during tool
interference during tool diameter compensation
diameter compensation 0: Do not check
1: Check
1 Compensation amount of the Compensation amount 1 to be used to compensate
tool diameter 1 the tool diameter
…… …… ……
128 Compensation amount of the Compensation amount 128 to be used to
tool diameter 128 compensate the tool diameter
9. Tool length 1 Compensation amount 1 of the Compensation amount 1 to be used to compensate
tool length the tool length
Compensation …… …… ……
128 Compensation amount 128 of Compensation amount 128 to be used to
the tool length compensate the tool length
10. Work- 1 Whether to use the workpiece Set whether to use the workpiece coordinate system
piece coordinate system shift shift amount.
Coordinate amount. 0: Unused
System 0: Used

Parameter Group No. Item Description

1. Channel 10. Work- 11 Workpiece coordinate system Set the workpiece coordinate system shift amount
Parameter piece shift amount 1 for the X axis.
Coordinate …… …… Set the workpiece coordinate system shift amount
System for the 7 axes; Y, Z, A, B, C, U, V.
19 Workpiece coordinate system Set the workpiece coordinate system shift amount
shift amount 9 for the W axis.
41 G54 workpiece coordinate Set the G54 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G54 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
49 G54 workpiece coordinate Set the G54 workpiece coordinate system value for
system value 9 the W axis.
51 G55 workpiece coordinate Set the G55 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G55 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
59 G55 workpiece coordinate Set the G55 workpiece coordinate system value for

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Parameter Group No. Item Description

system value 9 the W axis.
61 G56 workpiece coordinate Set the G56 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G56 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
69 G56 workpiece coordinate Set the G56 workpiece coordinate system value for
system value 9 the W axis.
71 G57 workpiece coordinate Set the G57 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G57 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
79 G57 workpiece coordinate Set the G57 workpiece coordinate system value for
system value 9 the W axis.
81 G58 workpiece coordinate Set the G58 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G58 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
89 G58 workpiece coordinate Set the G58 workpiece coordinate system value for
system value 9 the W axis.
91 G59 workpiece coordinate Set the G59 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G59 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
99 G59 workpiece coordinate Set the G59 workpiece coordinate system value for
system value 9 the W axis.
11. Macro 1 Whether to apply the single block Set whether to apply the single block stop function
Program stop function to the macro to the macro program(9000.nc ~ 9999.nc)
program 0: Stop
1: Do not stop
It is possible to write NC parameters during NC
channel automatic operation.
2 Display the macro program block Set whether to display the progress status of the
block on the screen when operating the macro
program (9000.nc ~ 9999.nc).
0: Not display
1: Display
It is possible to write NC parameters during NC
channel automatic operation.
10 Macro program call G code Set the G code number to call the macro program
(9010.nc) (9010.nc ~ 9019.nc) that can be called by the G
code.
The setting values 0, 1, 2, 3 are ignored.
(0~255.9, real number)
…… ……
19 Macro program call G code Set the G code number to call the macro program
(9019.nc) (9010.nc ~ 9019.nc) that can be called by the G
code.
※The setting values 0, 1, 2, 3 are ignored.
(0~255.9, real number)

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 Chapter 6 Motion Function Block

Parameter Group No. Item Description

1. Channel 11. Macro 20 Macro program Assign the M code number to call the macro program (9020.nc ~ (9020.nc
Program call M code ~ 9029.nc) with the M code.
Parameter (9020.nc)
※ 0, 30 of the input values are ignored.

(0~255, integer)
…… ……
29 Macro program Assign the M code number to call the macro program (9020.nc ~ (9020.nc
call M code ~ 9029.nc) with the M code.
(9029.nc) 0, 30 of the input values are ignored.
(0~255, integer)
9 T code call Enter the number of the macro program (9000.nc ~ 9009.nc) to be called
macro program when the T code is commanded.
number (9000~9009, integer)
It is possible to write NC parameters during NC channel automatic
operation.
13. 1 +Measurement Set the measurement reference distance from the automatic tool offset to
Automatic reference the contact surface in the +traversing direction of X.
tool offsets distance X for
Machine home +X
automatic tool Off X +Z
offset 0 reference Tool

Off Z
-X +X Xt
-X traversing direction
contact surface

-Z traversing direction
contact surface
-Z

Zt
+Z

(-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real number)

2 +Measurement Set the measurement reference distance from the automatic tool offset to
reference the contact surface in the +traversing direction of Y.
distance Y for (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real number)
automatic tool
offset
3 +Measurement Set the measurement reference distance from the automatic tool offset to
reference the contact surface in the +traversing direction of Z.
distance Z for (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real number)
automatic tool
offset
4 - Measurement Set the measurement reference distance from the automatic tool offset to
reference the contact surface in the- traversing direction of X.
distance X for (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real number)
automatic tool
offset
5 - Measurement Set the measurement reference distance from the automatic tool offset to
reference the contact surface in the -traversing direction of Y.
distance Y for (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real number)
automatic tool
offset
6 - Measurement Set the measurement reference distance from the automatic tool offset to

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Parameter Group No. Item Description

reference the contact surface in the -traversing direction of Z.
distance Z for (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real number)
automatic tool
offset
7 Automatic tool Sets the application section (r) of deceleration speed for automatic tool
deceleration start length measurement.
length of
automatic tool Rapid Fp Measuring commnand
position
offset (a) (b) (c) (d)

Decceleration
Start position
err err
r

(0 ~ 99.999 mm, 0 ~ 9.999 inch, real number)

8 Automatic tool Sets the detection range (err) for automatic tool length measurement.
measurement (0 ~ 99.999 mm, 0 ~ 9.999 inch, real number)
detection range
of automatic tool
offset
9 Automatic tool Set the automatic tool length measurement deceleration speed (Fp)
deceleration (0.001 ~ 999.999 mm, 0.0001 ~ 99.9999 inch, real number)
velocity of
automatic tool
offset
14. 1 Modal traverse of If there is no G00 or G01, select the G code to be applied as the default
Default default settings modal.
Setting 0: Rapid Feed(G00)
1: Cutting Feed(G01)
2 Modal plane of If there is no G code instruction for G17, G18, G19 group, select the G
default settings code to be applied as the default modal.
0: XY plane(G17)
1: XZ plane(G18)
2: YZ plane(G19)
3 Modal absolute / If there is no G code instruction for G90, G91 group, select the G code to
increment with be applied as the default modal.
default settings 0: Absolute command (G90)
1: Incremental command(G91)
4 Modal inch / 0: G20
metric with 1: G21
default settings
5 Check the modal If there is no G code instruction for G22, G23 group, select the G code to
prohibited area be applied as the default modal.
with default 0: Stroke On(G22)
settings 1: Stroke off(G23)
15. 4 A reference axis Set the reference axis that operates in connection with a spindle when
Spindle when controlling controlling constant surface speed.
Setting constant surface 0: Unused
speedNote1) 1: X, 2: Y, 3: Z, 4: A, 5: B, 6: C, 7: U, 8: V, 9: W

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Parameter Group No. Item Description

It is possible to write NC parameters during NC channel automatic
operation.
5 The maximum Set the maximum number of spindle rotation when controlling constant
number of surface speed. When being commanded by the S code of G92 (set the
spindle rotation maximum speed of the master axis), the S code data is saved as this
when controlling parameter value.
constant surface (0 ~ 100,000, real number)
speedNote1) It is possible to write NC parameters during NC channel automatic
operation.
6 The minimum Set the minimum number of spindle rotation when controlling constant
number of surface speed.
spindle rotation (0 ~ 100,000, real number)
when controlling It is possible to write NC parameters during NC channel automatic
constant surface operation.
speedNote1)
16. 1 Relative Set the relative coordinate’s offset value for the X axis.
Relative coordinate’s
Setting offset value #1
2 Relative Set the relative coordinate’s offset value for the Y axis.
coordinate’s
offset value #2
3 Relative Set the relative coordinate’s offset value for the Z axis.
coordinate’s
offset value #3
4 Relative Set the relative coordinate’s offset value for the A axis.
coordinate’s
offset value #4
5 Relative Set the relative coordinate’s offset value for the B axis.
coordinate’s
offset value #5
6 Relative Set the relative coordinate’s offset value for the C axis.
coordinate’s
offset value #6
7 Relative Set the relative coordinate’s offset value for the U axis.
coordinate’s
offset value #7
8 Relative Set the relative coordinate’s offset value for the V axis.
coordinate’s
offset value #8
9 Relative Set the relative coordinate’s offset value for the W axis.
coordinate’s
offset value #9

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 Chapter 6 Motion Function Block

Parameter Group No. Item Description

2. 1. Axis setting 2 Setting the direction for the Set the traverse command for the axis set as the
Channel/Axis modular axis modular axis.
Parameter 0: Unidirectional
1: Bidirectional
2. Home 1 Coordinates of the 2nd origin Set the coordinates of the 2nd origin.
2 Coordinates of the 3rd origin Set the coordinates of the 2rd origin.
3 Coordinates of the 4th origin Set the coordinates of the 4th origin.
3. Rapid feed 2 Rapid feed acceleration The set value is used as the acceleration of the G00
block.
It is possible to write NC parameters during NC
channel automatic operation.
3 Rapid feed deceleration The set value is used as the deceleration of the G00
block.
It is possible to write NC parameters during NC
channel automatic operation.
4 Rapid feed jerk The set value is used as the jerk of the G00 block.
It is possible to write NC parameters during NC
channel automatic operation.
5 Rapid feed speed The set value is used as the feed speed of the G00
block.
(0~100000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
6 Dry run speed Used at dry run speed
It is possible to write NC parameters during NC
channel automatic operation.
4. Feed area 1 Minimum value of the G22 Feed Set the minimum value of the G22 Feed Prohibited
Prohibited Area range for the X, Area range for the X, Y, and Z axis.
Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
2 Maximum value of the G22 Set the maximum value of the G22 Feed Prohibited
Feed Prohibited Area range for Area range for the X, Y, and Z axis.
the X, Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
3 Minimum value of the 3rd Feed Set the minimum value of the 3rd Feed Prohibited
Prohibited Area range for the X, Area range for the X, Y, and Z axis.
Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
4 Maximum value of the 3rd Feed Set the maximum value of the 3rd Feed Prohibited
Prohibited Area range for the X, Area range for the X, Y, and Z axis.
Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
5. Sub setting 1 Scaling setting When using the scaling function (G51) function, this
parameter is applied to the axis without the scaling

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 Chapter 6 Motion Function Block

Parameter Group No. Item Description

amount command.
When set to a negative value, it is performed as a
mirror image function. X, Y, Z, A, B, C, U, V, W, S 9
axis values
setting
(-9999~9999, integer)
2 Overrun feed rare of single Set the overrun feed rate of the 9 axes; X, Y, Z, A, B,
direction positioning C, U, V, W when using the single direction
positioning function (G60).
After stopping at the position separated by the set
value for the G60 command block’s axis, it moves to
the command position to eliminate the effect of
backlash.

(-100 ~ 100 unit, real number)

Notes
Note 1) Available to use it on O/S V1.30 or greater of a single motion controller

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 Chapter 6 Motion Function Block

6.8.15 Write NC parameter (MC_WriteParameter)

Motion Function Block

NC_WriteParameter
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
UINT NcAxis Busy BOOL
INT ParameterGroup Error BOOL
INT ParameterNumber ErrorID WORD
LREAL Value
UINT ExecutionMode

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
BOOL Execute The NC parameter is written in the rising Edge of the input.
UINT NcAxis Set the channel axis. (1~10: X=1, Y=2, … B=8, C=9, S=10)
When set to 0, ‘Write Channel Parameters’ is executed.
INT ParameterGroup Specify the group of the parameter to be written.
INT ParameterNumber Specify the number in the group of the parameter to be written.
LREAL Value Specify the value of parameter to write.
UINT ExecutionMode Rsvd.
Output
BOOL Vaild Indicate the validity of the function block output.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that writes the values specified in the parameters of the NC channel and
channels/axes.
(2) The parameters will be written in the rising edge of the Execute input.
(3) ParameterGroup input specifies the group number of the parameter to be written.
(4) ParameterNumber input specifies the number in the group of the parameter to be written. If the value that cannot be set is
applied, "Error 16 # 000B" occurs.
(5) In the Value input, specify the value to be written in the parameter.
(6) For the group number and the number in the group of each parameter, refer to 6.8.14 Reading NC parameters.
(7) Some items of all parameters can be written when automatic operation is performed, that is, NC_CycleStart is performed and
automatic operation is in progress. For this, refer to 6.8.14 Reading NC Parameter as well.

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 Chapter 6 Motion Function Block

6.8.16 Reverse Operation (NC_RetraceMove)

Motion Function Block

NC_RetraceMove
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Enable Execute the reverse operation command on the relevant channel while
the input is enabled.
Output
BOOL Enabled Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that makes the reverse operation command on the relevant NC channel.
(2) While the Enable input is active, execute operation in the reverse direction.
(3) The reverse operation is possible only for G00, G01, G02 and G03 blocks.
(4) To use the function block, the NC channel parameter setting must set the 'reverse driving buffer size'.

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 Chapter 6 Motion Function Block

6.8.17 Block skip (NC_BlockSkip)

Motion Function Block

NC_BlockSkip
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
BOOL Skip1 Busy BOOL
BOOL Skip2 Error BOOL
BOOL Skip3 ErrorID WORD
BOOL Skip4

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Enable While an input is enabled, execute the block skip operation set in the
relevant channel.
BOOL Skip1 Set block skip 1. (G31/G31.1/G37/G37.1)
BOOL Skip2 Set block skip 2. (G31.2/G37.2)
BOOL Skip3 Set block skip 3. (G31.3/G37.3)
BOOL Skip4 Set block skip 4. (G31.4/G37.4)
Output
BOOL Enabled Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that the relevant NC channel gives commands such as block skip or automatic
measurement of tool length.
(2) While the Enable input is active, skip blocks such as Skip1 (G31/G31.1), Skip2 (G31.2), Skip3 (G31.3) and Skip4 (G31.4).
(3) When the Enable input is active, if there are commands such as G31/G31.1 (Skip1), G31.2 (Skip2), G31.3 (Skip3) and G31.4
(Skip4), skip the block that is currently performed and then, the next block is performed. If there are M/S/T codes, the relevant
code is performed and then, the next block is performed.
(4) When the Enable input is active, if there are commands such as G37/G37.1 (Skip1), G37.2 (Skip2), G37.3 (Skip3) and G37.4
(Skip4), perform the automatic measurement of tool length command in the block that is currently performed.
(5) If the function block is executed, the skipped position can be known as the current position of machine is saved in flags for
each NC channel/axis.

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 Chapter 6 Motion Function Block

6.8.18 Dry Run (NC_DryRun)

Motion Function Block

NC_DryRun
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
BOOL AuxFuncLock Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Enable The relevant parameters are output while the input is enabled.
BOOL AuxFuncLock If an input is active, ignore an auxiliary function code (M/S/T).
Output
BOOL Enabled Indicate that the function block is performed.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that conducts a dry run on the relevant NC channel.
(2) While the Enable input is active, conduct a dry run.
(3) When conducting a dry run, conduct 0: Dry running speed operation and 1: High transfer speed operation according to the set
parameter in G00.
(4) If the AuxFuncLock input is active, strobe signals of auxiliary function codes (M/S/T) excluding M00, M01, M02, M30, M98 and
M99 are not output.

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 Chapter 6 Motion Function Block

6.8.19 Tool Retract/Recover Operation (NC_ToolMode)

Motion Function Block

NC_ToolMode
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
UINT ToolMode Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Execute Give the tool retract or recover operation command to the rising Edge of
input.
UINT ToolMode Give the tool retract (1) or recover (2) operation command.
Output
BOOL Done Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that the relevant NC channel gives commands, such as tool retract or recover
operation commands, to the relevant channel.
(2) Give the tool retract or recover operation command to ToolMode in the rising Edge of the Execute input.
(3) When conducting the tool retract operation, the retract operation should be conducted by the JOG operation. While the
retract operation is conducted by the JOG operation, a position at the time that an operation axis changes is remembered up
to 10 times.
(4) When conducting the tool retract operation, the JOG operation must be written not to select more than 2 axes
simultaneously.
(5) When conducting the tool recover operation, the tool should be recovered at the remembered position.

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6.8.20 Read Tool Retract/Recover Modes (NC_ReadToolMode)

Motion Function Block

NC_ReadToolMode
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
Busy BOOL
ToolMode UINT
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Enable While an input is active, confirm a status during tool retract/recover.
Output
BOOL Enabled Indicate that the function block is performed.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
UINT ToolMode Indicate whether a status is tool retract (1) or tool recover (2).

(1) This motion function block is the function block that the relevant NC channel gives the command to confirm whether a status
is tool retract or tool recover to the relevant channel.
(2) While the Enable input is active, the ToolMode output helps you to understand whether a status is tool retract (1) or tool recover
(2).
(3) When the status is tool retract, more than 2 axes should not be operated.

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 Chapter 6 Motion Function Block

6.8.21 Mirror Image (NC_MirrorImage)

Motion Function Block

NC_MirrorImage
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
BOOL NcAxisX Busy BOOL
BOOL NcAxisY Active BOOL
BOOL NcAxisZ Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Enable While an input is enabled, execute the reverse operation on the specified
axis in the relevant channel.
BOOL NcAxisX Give the reverse operation signal to the X-axis.
BOOL NcAxisY Give the reverse operation signal to the Y-axis.
BOOL NcAxisZ Give the reverse operation signal to the Z-axis.
Output
BOOL Enabled Indicate that the function block is performed.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that conducts the operation to reverse the transfer position on NC axes (X, Y
and Z) in the relevant channel.
(2) While the Enable input is active, conduct an operation by reversing the transfer position on the set axis.
(3) Conduct the reverse operation only for G00, G01, G02, G03, G31.x and G37.x among G codes.
(4) If NC_MirrorImage function block is executed during automatic operation start, error “0x3362” occurs, When it is necessary to
execute a function block during automatic operation startup, it can be executed after executing the NC_BlockControl function
block in SingleBlock operation mode.

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 Chapter 6 Motion Function Block

6.8.22 Spindle operation control (NC_SpindleControl)

Motion Function Block

NC_SpindleControl
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
BOOL TgtVelReached Busy BOOL
BOOL ZeroVelReached Error BOOL
BOOL SS_Control ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Enable While an input is enabled, conduct the specified operation on the main
spindle in the relevant channel.

BOOL TgtVelReached Convey whether the main spindle reaches the target speed to the NC
function module.
0: The target speed is not reached
1: The target speed is reached
BOOL ZeroVelReached Convey whether the main spindle reaches the zero speed to the NC
function module.
0: The zero speed is not reached
1: The zero speed is reached
BOOL SS_Control Start the SS control mode of the main spindle. (future support)
0: Start SS controls
1: End SS controls
Output
BOOL Enabled Indicate that the function block is performed.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block performs the user’s specified operations for the main spindle on the NC channel specified by the
function block if the spindle control is conducted on NC.
(2) When the spindle axis of the channel is not enabled to be automatically operated on the NC function module, the error ‘0x36D0’
occurs.
(3) When the axis specified as the main spindle of the channel is not ready for operation, the error ‘0x36D1’ occurs.
(4) For more information about automatic operation on the NC function module, see ‘9.5.1 How to Operate Spindle Axes’.

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6.8.23 NC optional block skip (NC_BlockOptionalSkip)

Motion Function Block

NC_BlockOptionalSkip
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
UINT SkipNum Busy BOOL
Error BOOL
ErrorID WORD

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Execute Give the skip signal to SkipNum in the rising Edge of input.
UINT SkipNum Specify a signal to do a block skip (1 ~ 9)
(1: /or/1, 2: /2, 3: /3, 4: /4, 5: /5, 6: /6, 7: /7, 8: /8, 9: /9)
Abort the skip function if it is set to 0 and executed.
Output
BOOL Done Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is the function block that gives the optional skip command to the NC channel.
(2) Skip the block that “/n” is used in front of the block of NC programs according to SkipNum input values in the rising edge of the
Execute input. For example, if SkipNum is 3, skip the block that /3 is written in front of it. After skipping the block that is currently
conducted, the next block is conducted. If there are M/S/T codes, the relevant code is implemented and the next block is
executed.
(3) When setting 0 to SkipNum and executing commands, the skip function is aborted.
(4) When setting values other than 0~9 to SkipNum, the error “0x36A0” occurs.

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6.8.24 Manual Measurement of Compensation Amount (NC_ManualToolComp)

Motion Function Block

NC_ManualToolComp
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
UINT NcAxis Busy BOOL
BOOL JOG_MPG Error BOOL
ErrorID WORD
BOOL Direction
CompValue LREAL
BOOL Low_High
BOOL Pinput

BOOL NInput

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
UINT NcAxis Set the channel axis. (1~3: X=1, Y=2, Z=3)
Input
BOOL Execute Give the compensation amount input mode setting command in the
rising Edge of input.
BOOL JOG_MPG Choose operation methods (0: JOG, 1: MPG)
BOOL Direction The direction in JOG operation
(0: Forward direction, 1: Reverse direction)
BOOL Low_High The speed in JOG operation (0: Low speed, 1: High speed)
BOOL PInput The input signal measured in forward direction
BOOL NInput- The input signal measured in reverse direction
Output
BOOL Done Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
LREAL CompValue Output the calculated compensation amount.

(1) This motion function block is the function block that gives the manual measurement of the tool compensation amount
command to the axis set to NcAxis in the relevant NC channel.
(2) Give the manual measurement of the tool compensation amount command in the rising Edge of the Execute input.
(3) If a command is conducted, start the operation selected in JOG_MPG. If the signal selected in PInput or NInput becomes 1,
stop the operation and calculate a compensation amount by using the relevant position value.
(4) The compensation amount is calculated by the following formula:
Compensation amount = Position of an axis when PInput/NInput is On - Measured reference position
(5) The measured reference position is selected from “+ measured reference distance X of automatic tool offsets” to “- measured
reference distance Z of automatic tool offsets” of channel parameters according to an axis. For example, if NcAxis is selected
as Y and NInput is On, the value set in “- measured reference distance Y of automatic tool offsets” becomes the measured
reference position.
(6) The calculated compensation amount is output to CompValue and Done becomes 1.
(7) If PInput and NInput are On simultaneously, the amount is recognized with PInput.
(8) If setting axes other than X~Z to NcAxis and executing function blocks, the error “0x36B0” occurs.

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6.8.25 NC spindle gear change (NC_ChgSpindleGear)

Motion Function Block

NC_ChgSpindleGear
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
LREAL ChangeVelocity Busy BOOL
BOOL GearChangeCmpl Error BOOL
ErrorID WORD
LREAL MaxVelocity
UINT GearOfMotor GearChangeEnable BOOL

UINT GearOfMachine
LREAL Backlash
LREAL P_Gain
LREAL FF_Gain
LREAL Analog10Vrpm

Input-Output
UINT NcChannel Specify the NC channel to make commands
(1 ~ 4 : Channel 1 ~ Channel 4)
Input
BOOL Execute Give the spindle gear conversion command in the rising Edge of input.
LREAL ChangeVelocity Set the speed value to change
BOOL GearChangeCmpl The signal that gear changes have been completed. Each setting value
of Operand is set as the relevant parameter after turning On
LREAL MaxVelocity The maximum setting value for velocity parameters
UINT GearOfMotor The gear ratio parameter of a motor
UINT GearOfMachine The gear ratio parameter of machine
LREAL Backlash Backlash value
LREAL P_Gain P gain setting value
LREAL FF_Gain Setting value for the Feed Forward gain
LREAL Analog10Vrpm Disabled
Output
BOOL Done Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
BOOL GearChangeEnable Indicate whether to change gears

(1) This motion function block is the function block that gives the spindle gear change command to the relevant NC channel.
(2) The spindle gear change command is given in the rising Edge of the Execute input.
(3) If the command is executed, change the current spindle speed into the value set in ChangeVelocity that can change gears.
(4) If the speed of the spindle axis is changed to less than the value set in ChangeVelocity and the GearChangeEnable output
turns On, users run sequence programs to change gears and enter On in GearChangeCmpl when gear change is completed.
(5) If the GearChangeCmpl turns On, users set values of the following items set in the function block in parameters and run the
spindle with the changed settings.
Speed limit values (MaxVelocity)

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Gear ratio of a motor (GearOfMotor)

Gear ratio of machine (GearOfMachine)
Backlash compensation amount (Backlash)
P gain in a position mode (P_Gain)
Feed Forward gain in a position mode (FF_Gain)
(6) If setting the ChageVelocity value to values bigger than speed limit values of the relevant axis and executing the function block,
the error “0x36C0” occurs.
(7) If setting the MaxVelocity value to values less than 0 and executing the function block, the error “0x36C1” occurs.
(8) If setting the GearOfMotor value to values less than 0 or bigger than 65535 and executing the function block, the error “0x36C2”
occurs.
(9) If setting the GearOfMachine value to values less than 0 or bigger than 65535 and executing the function block, the error
“0x36C3” occurs.
(10) If setting the Backlash value to values less than 0 and executing the function block, the error “0x36C4” occurs.
(11) If setting the P_Gain value to values less than 0 or bigger than 500 and executing the function block, the error “0x36C5” occurs.
(12) If setting the FF_Gain value to values less than 0 or bigger than 100 and executing the function block, the error “0x36C6”
occurs.

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6.8.26 Save NC program to SD Card (NC_ExportProgram)

Motion Function Block

NC_ExportProgram
BOOL Execute Done BOOL
STRING SrcProgramName Busy BOOL
STRING DstProgramName Error BOOL
BOOL OverWrite ErrorID WORD

Input
BOOL Execute Save the program to the SD card on the rising edge.
STRING SrcProgramName Set the program name stored in PLC. Combination of English and numbers
STRING DstProgramName Set the program name to be saved on the SD card. Combination of English
and numbers
BOOL OverWrite 0: Overwrite Protection, 1: Overwrite Permission
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is a function block that saves the NC program stored in the PLC to the SD card.
(2) After setting the ProgramName to be read from PLC and the ProgramName to be saved to the SD card and executing the
function block, the corresponding program is saved to the SD card. (Save Path: XMC-Exxx\MACxxxxxxxxxxxx\Inst)
(3) If a file with the same name as DstProgramName exists on the SD card, the following processing is performed according to
the OverWrite setting value.
OverWrite Operation
0 It does not overwrite the file and occurs an error.
1 Overwrites the file.

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6.8.27 Save SD card NC program to PLC (NC_ImportProgram)

Motion Function Block

NC_ImportProgram
BOOL Execute Done BOOL
STRING SrcProgramName Busy BOOL
STRING DstProgramName Error BOOL
BOOL OverWrite ErrorID WORD

Input
BOOL Execute At the rising edge, the program stored in the SD card is saved in the PLC.
STRING SrcProgramName Set the program name stored in SD. Combination of English and numbers
STRING DstProgramName Set the program name to be saved on the SD. Combination of English and
numbers
BOOL OverWrite 0: Overwrite Protection, 1: Overwrite Permission
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.

(1) This motion function block is a function block that saves the NC program stored in the SD card to the PLC.
(2) The NC program file must be saved in the corresponding path of the SD card. (Save Path: XMC-Exxx\MACxxxxxxxxxxxx\Inst)
(3) After setting the ProgramName to be read from SD and the ProgramName to be saved to the PLC and executing the function
block, the corresponding program is saved to the PLC.
(4) If a file with the same name as DstProgramName exists on the PLC, the following processing is performed according to the
OverWrite setting value.
OverWrite Operation
0 It does not overwrite the file and occurs an error.
1 Overwrites the file.

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6.8.28 Forward Kinematic operation (LS_ForwardKin)

Motion Function Block

LS_ForwardKin
BOOL Enable Valid BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[0..5]OF LREAL[] AxisPosition Busy BOOL
UINT CoordSystem Error BOOL
ErrorID WORD
Position ARRAY[0..5]OF LREAL[]
WorkspaceStatus BOOL

Input-Output
Set the group to perform the forward kinematic function
UINT AxesGroup
(1~16: 1group~16group)
Input
BOOL Enable While the input is active, a forward kinematic operation is
performed on the designated axis group.
LREAL[] AxisPosition Enter the position of each axis of the axis group.
UINT CoordSystem Select the coordinate system type.(1:MCS 2:PCS)
Output
BOOL Valid Indicate the validity of function block output.
BOOL Busy It indicates that the function block is being executed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function
block is running.
LREAL[] Position It indicates the position of the instrument end point calculated
by the selected coordinate system type.
BOOL WorkspaceStatus Indicates whether a working radius error has occurred.

(1) This motion function block converts the position (ACS) of each axis input in AxesGroup into the selected MCS/PCS coordinate
system and outputs it as Position.
(2) When a workspace error is detected, the WorkspaceStatus value is output as ‘1’.
(3) This function block does not perform direct operation.

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6.8.29 Inverse Kinematic operation (LS_InverseKin)

Motion Function Block

LS_InverseKin
BOOL Enable Valid BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[0..5]OF LREAL[] Position Busy BOOL
UINT CoordSystem Error BOOL
ErrorID WORD
AxisPosition ARRAY[0..9]OF LREAL[]
WorkspaceStatus BOOL

Input-Output
Set the group to perform the inverse kinematic function
UINT AxesGroup
(1~16: 1group~16group)
Input
BOOL Enable While the input is active, a inverse kinematic operation is
performed on the designated axis group.
LREAL[] Position Enter the target position of the end point of the machine.
UINT CoordSystem Select the coordinate system type.(1:MCS 2:PCS)
Output
BOOL Done Indicates that the execution of the motion function block is
completed.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function
block is running.
LREAL[] AxisPosition It indicates the position of each axis to reach the target
position of the end point of the machine.
BOOL WorkspaceStatus Indicates whether a working radius error has occurred.

(1) This motion function block converts the MCS/PCS coordinate system selected in AxesGroup into ACS and outputs it as
AxisPosition.
(2) When a workspace error is detected, the WorkspaceStatus value is output as ‘1’.
(3) This function block does not perform direct operation.

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6.9 File instruction

6.9.1 Open File in SD Memory Cards (FILE_OPEN)
Motion Function Block

FILE_OPEN
BOOL REQ DONE BOOL

STRING FileName BUSY BOOL

UINT Mode FileID DWORD

STAT USINT

Input
BOOL REQ Set programs to run in the rising Edge.
STRING FileName Set file names to specify
UINT Mode File open mode.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
DWORD FileID ID of the file that is opened.
USINT STAT Output the error number that occurred while the function block is running.

(1) Opens the file specified by ‘FileName’ on the SD memory card (FileName is a combination of letters and numbers).
(2) When executing ‘open’, an operation changes according to the setting value of the mode.
Mode Operation
0 Open a file to read and write. If there is no file, create a new file. If files with the same name exist, delete
the contents of the files and create new ones.
1 Open a file to read and continuously write. If there is no file, create a new file. If files with the same
name exist, perform continuous writing from the end of the files when writing.
2 Open a file as read-only.
(3) Read a file from the beginning upon FILE_READ after FILE_OPEN. However, as reading a file from the last part when
performing FILE_READ after FILE_WRITE, perform Read after moving a position to FILE_SEEK.
(4) The ID of a file opened when a file is normally opened is output as ‘FileID’.
(5) ‘FileID’ is used when FILE_WRITE, FILE_READ, FILE_SEEK and FILE_CLOSE commands are executed.
(6) When FILE_OPEN is normally performed, STAT = 0. And when an error occurs, STAT information is as follows:
(7) The maximum number of FILE_OPEN is 50. (Including data log files)
STAT Error status
0 Normal
1 Failed to access SD memory cards
2 File is already openfile is already open
3 If it is mode 2 and there is no file in the Inst folder.
If SD card is not installed.
4 If you have more than 50 files open
5 If the Mode is a value other than 0~2
(8) The file with FILE_OPEN must be closed by executing the FILE_CLOSE command after using it.
(9) If the PLC mode is changed, the status that a file is opened continues. Therefore, execute the FILE_OPEN command again
after closing the file.

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■ Program Example

(1) LD
- FileName = ‘ABC’, Mode = 0

FILE_OPEN
%MX0
EN ENO

FileName FileName BUSY BUSY

Mode Mode FileID FileID

STAT STAT

(a) If the execution condition (%MX0) is On, the FILE_OPEN function is executed.
(b) If SD cards are normally installed, open a file that is able to read and write with FileName = ‘ABC’. If files with the same
name as ABC exists, delete the contents of the files and a new file is opened.
(c) According to the status of SD cards or files, STAT displays an error. If normal operation, 0 is output.

(2) ST
INST_FILE_OPEN (REQ:=%MX0, FileName:='ABC', Mode:=0, DONE=>DONE, BUSY=>BUSY, FileID=>FileID, stat=>stat);

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6.9.2 Close file in SD Memory Cards (FILE_CLOSE)

Motion Function Block

FILE_CLOSE
BOOL REQ DONE BOOL
DWORD FileID BUSY BOOL

STAT USINT

Input
BOOL REQ Set programs to run in the rising Edge.
DWORD FileID ID of the file that is opened.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
USINT STAT Output the error number that occurred while the function block is running.

(1) Close the file specified with ‘FileID’ in SD memory cards.

(2) When FILE_CLOSE is normally performed, STAT = 0. And when an error occurs, STAT information is as follows:
STAT Error status
0 Normal
1 Failed to access SD memory cards
2 If there are no opened files

■ Program Example
(1) LD

FILE_CLOSE
%MX0
EN ENO

FileID FileID BUSY BUSY

STAT STAT

(a) The output value, FileID must be entered after FILE_OPEN is normally executed.
(b) If the execution condition (%MX0) is On, the FILE_CLOSE function is executed.
(c) According to the status of SD cards or files, STAT displays an error. If normal operation, 0 is output.

(2) ST
INST_FILE_CLOSE (REQ:=%MX0, FileID:=FileID, DONE=>DONE, BUSY=>BUSY, stat=>stat);

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6.9.3 Write file in SD Memory Cards (FILE_WRITE)

Motion Function Block

FILE_WRITE
BOOL REQ DONE BOOL

DWORD FileID BUSY BOOL

ANY_PTR WriteAddr WrittenSize UINT

UINT Size STAT USINT

Input
BOOL REQ Set programs to run in the rising Edge.
DWORD FileID ID of the file that is opened.
ANY_PTR WriteAddr Address of data to write
UINT Size Number of data to write
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
UINT WrittenSize Number of data that writing is completed.
USINT STAT Output the error number that occurred while the function block is running.

(1) Write the file opened with ‘FileID’ in SD memory cards.

(2) The data to write is the contents of WriteAddr and executes writing as many as Sizes.
(3) If WriteAddr is announced as an Array type, write data in the array as many as Sizes to write.
(4) If an Array type, the size of data to write is WriteAddr data type x Size. (If Byte, the data type is 1)
(5) If WriteAddr is announced as a data type, write only the relevant data value irrespective of Size values.
(6) If writing, BUSY = 1. Upon completion, BUSY = 0 and DONE = 1.
(7) When executing normally FILE_WRITE, the size of data that completed Write is output to WrittenSize.
(8) Upon normal completion, STAT = 0. And when an error occurs, STAT information is as follows:
(9) When forcing to remove SD cards before FILE_CLOSE, data is not normally saved.

STAT Error status

0 Normal
1 Failed to access SD memory cards
2 The status that files with FileID are not opened
3 If a file is opened as read-only
4 If the Size is 0 (an Array type), If the Size is over 65535

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■ Program Example
(1) LD

FILE_WRITE
%MX0
EN ENO

FileID FileID BUSY BUSY

WriteAddr WriteAddr WrittenSize WrittenSize

Size Size STAT STAT

(a) The output value, FileID must be entered after FILE_OPEN is normally executed.
(b) If the execution condition (%MX0) is On, the FILE_WRITE function is executed.
(c) WriteAddr is able to be set as an array type or a data type.
(d) When setting it as an array type, data in an array range can be written into SD cards. For example, if setting it as 10 DWORD
arrays, 10 array values can be written with [0] ~ [9] using the Size.
(e) If setting it as a data type, only the relevant value is written into SD cards. The Size value is not valid.
(f) Upon normal execution, WriteSize displays the data size that is actually write.
(g) According to the status of SD cards or files, STAT displays an error. If normal operation, 0 is output.
※ WriteAddr Array Type Examples
- WriteAddr: ARRAY[0..9] OF DWORD
FILE_WRITE
%MX0
EN ENO

FileID FileID BUSY BUSY

WriteAddr WriteAddr WrittenSize WrittenSize

10 Size STAT STAT

(a) If the execution condition (%MX0) is On, the FILE_WRITE function is executed.
(b) As WriteAddr is an array type and the Size is 10, write [0] ~ [9] data of WriteAddr.
(c) As writing 10 DWORD data, WrittenSize displays 40 and STAT outputs 0 after writing is completed.
※ WriteAddr Array Type Examples
- WriteAddr: %MD100
FILE_WRITE
%MX0
EN ENO

FileID FileID BUSY BUSY

%MD100 WriteAddr WrittenSize WrittenSize

10 Size STAT STAT

(a) If the execution condition (%MX0) is On, the FILE_WRITE function is executed.
(b) As the Size is 10 but WriteAddr is a data type, write the set value of %MD100.
(c) As they are DWORD data, WrittenSize displays 4 and STAT outputs 0.

(2) ST
INST_FILE_WRITE (REQ:=%MX0, FileID:=FileID, WriteAddr:=WriteAddr, Size:=Size, DONE=>DONE, BUSY=>BUSY,
WrittenSize=>WrittenSize, stat=>stat)

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6.9.4 Read Files in SD Memory Cards (FILE_READ)

Motion Function Block

FILE_READ
BOOL REQ DONE BOOL

DWORD FileID BUSY BOOL

ANY_NUM ReadAddr ReadSize UINT

UINT Size STAT USINT

Input
BOOL REQ Set programs to run in the rising Edge.
DWORD FileID ID of the file that is opened.
ANY_NUM ReadAddr The address starting with data to read.
UINT Size Number of data to read.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
UINT ReadSize Number of data that reading is completed.
USINT STAT Output the error number that occurred while the function block is running.

(1) Read the file opened with ‘FileID’ in SD memory cards.

(2) After executing FILE_OPEN, read a file from the beginning. After executing FILE_WRITE, make a file pointer read it from the
last position.
(3) If a position shift is needed, it is performed after shifting position with the FILE_SEEK command.
(4) The read data is saved in ReadAddr and read data as much as the number of Sizes.
(5) If ReadAddr is announced as an Array type, read data in the array as many as Sizes to read.
(6) If an Array type, the size of data to write is ReadAddr data type x Size. (If Byte, the data type is 1)
(7) If ReadAddr is announced as a data type, read only the value of a data type irrespective of Size values.
(8) If reading, BUSY = 1. Upon completion, BUSY = 0 and DONE = 1.
(9) When executing normally FILE_READ, the size of data that completed reading is output to ReadSize.
(10) Upon normal completion, STAT = 0. And when an error occurs, STAT information is as follows:
STAT Error status
0 Normal
1 Failed to access SD memory cards
2 The status that files with FileID are not opened
3 If the Size is 0 (an Array type) or there is actually no data to read

(11) If a file pointer points to the end of a file, ‘STAT = 3’ is output as there is no data to read.

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■ Program Example

(1) LD

FILE_READ
%MX0
EN ENO

FileID FileID BUSY BUSY

ReadAddr ReadAddr ReadSize ReadSize

Size Size STAT STAT

(a) The output value, FileID must be entered after FILE_OPEN is normally executed.
(b) If the execution condition (%MX0) is On, the FILE_READ function is executed.
(c) ReadAddr is able to be set as an array type or a data type.
(d) When setting it as an Array type, data of the file saved in SD cards can be read as many as Sizes in the set array. For
example, if ReadAddr is set as 10 DWORD arrays, read data saved in SD cards in array as many as Sizes. If setting it as
a data type, read it only with the relevant data value.
(e) The Size value is not valid. Upon normal execution, ReadSize displays the data size that is actually read.
(f) According to the status of SD cards or files, STAT displays an error. If normal operation, 0 is output.

(2) ST
INST_FILE_READ (REQ:=%MX0, FileID:=FileID, ReadAddr:=ReadAddr, Size:=Size, DONE=>DONE, BUSY=>BUSY,
ReadSize=>ReadSize, stat=>stat);

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6.9.5 Seek the Position to Access in SD Memory Card (FILE_SEEK)

Motion Function Block

FILE_SEEK
BOOL REQ DONE BOOL

DWORD FileID BUSY BOOL

DINT Offset RESULT DWORD

BYTE Origin STAT USINT

Input
BOOL REQ Set programs to run in the rising Edge.
DWORD FileID ID of the file that is opened.
DINT Offset A position from Origin to Offset
Byte Origin A reference position.
Output
BOOL Done Indicate the state of motion function block completion.
BOOL Busy Indicate that execution of the function block is not completed.
DWORD Result Output the changed position.
USINT STAT Output the error number that occurred while the function block is running.

(1) Specify position to access in the file opened with ‘FileID’ in SD memory cards.
(2) A reference position is set as 3 modes as follows:
Origin Origin position
value
0 Front of file
1 The current position of a file pointer
2 End of file

(3) Move the position of a file pointer by adding the setting value of a reference position to the Offset value.
(4) If operation, BUSY = 1. Upon completion, BUSY = 0 and DONE = 1.
(5) Upon normal completion, RESULT displays the moved position and STAT = 0. And when an error occurs, STAT information
is as follows:
STAT Error status
0 Normal
1 Failed to access SD memory cards
2 The status that files with FileID are not opened
3 If the value of a position to move is less than the value of
origin

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■ Program Example

(1) LD

FILE_SEEK
%MX0
EN ENO

FileID FileID BUSY BUSY

Offset Offset RESULT RESULT

Origin Origin STAT STAT

(a) The output value, FileID must be entered after FILE_OPEN is normally executed.
(b) If the execution condition (%MX0) is On, the FILE_SEEK function is executed.
(c) Move a file pointer by adding the Offset value to the setting of origin. For example, if you want to move to the beginning of
a file, set it as Offset = 0 and Origin = 0. If you move to the position of 20 bytes, you can set it as Offset = 20 and Origin = 0.
(d) Upon normal execution, RESULT displays the current file pointer.
(e) According to the status of SD cards or files, STAT displays an error. If normal operation, 0 is output.

※ When a file size is 100 bytes, move to the position of 50 bytes

FILE_SEEK
%MX0
EN ENO

FileID FileID BUSY BUSY

50 Offset RESULT RESULT

0 Origin STAT STAT

(a) If the execution condition (%MX0) is On, the FILE_SEEK function is executed.
(b) After moving to the beginning point of a file as Origin = 0, move to the position where Offset = 50 is added.
(c) RESULT displays the moved 50 bytes.
(d) It applies to the case that moves from the end of a file.

FILE_SEEK
%MX0
EN ENO

FileID FileID BUSY BUSY

-50 Offset RESULT RESULT

2 Origin STAT STAT

(2) ST
INST_FILE_SEEK(REQ:=%MX0, FileID:=FileID, Offset:=Offset, Origin:=Origin, DONE=>DONE, BUSY=>BUSY,
RESULT=>RESULT, stat=>stat);

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6.10 Communication commands

6.10.1 Prepare to allow external TCP connections. (TCP Server)
Function Block

SOCKET_TCPLISTEN

BOOL Execute DONE BOOL

USINT ListenCH BUSY BOOL

UINT LocalPort Error BOOL

UINT MaxConnection ErrorID UINT

Input
BOOL Execute Action on rising edge
USINT ListenCH Socket service channel input to wait for external connection(1~16)
UINT LocalPort Specifies own port number(1~65535)
UINT MaxConnection Maximum number of external connections(1~15)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0

(1) Function
(a) Listen operation of the socket service channel (ListenCH) set to the local TCP port number (LocalPort) is performed.
(b) Create external connection queue as many as MaxConnection.
(c) After the command ends normally (‘DONE’ value is TRUE), multiple client connections are allowed through the
SOCKET_TCPACCEPT command.
(d) Refer to the example program "14.4 SOCKET SERVICE".
(e) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Close the service channel initialized with this command using the SOCKET_CLOSE command.
The maximum number of socket service channels is 16.
When the connection with the client is completed and the same LocalPort is reused after CLOSE, the use of the corresponding
port may be temporarily restricted. Refer to INVALID_ADDRESS_OR_PORT of occurrence error

(2) Error Status Information

ID Error name Cause Solutions

0 No Error Normal status -

Command input parameter
1 INVALID_PARAMETER - Normal range parameter input
error
2 SYSTEM_RESERVED_ Attempt to use the system - Change Local Port input value

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PORT reserved port

Reassign channels already in - Use after checking the usage status of the
3 ALREADY_USED_CH
use service channel
- Command operation retry through exception
SOCKET_SERVICE_PR Common errors that occur handling
10
OCEDURE during service processing - Review input values
- System check
- After the connection is completed after
specifying the local port, when attempting to
connect using the same local port, the error
may persist for up to 60 seconds for a certain
period of time to initialize the port used for the
INVALID_ADDRESS_O Input IP, PORT value
12 existing connection. In this case, retry the
R_PORT abnormal, unavailable status
command operation through exception
handling
- Check whether a port that is already in use is
specified
- Local Port normal input value, check the range

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.2 Prepare to allow external TCP connections. (TCP Server)

Function Block

Input
BOOL Execute Action on rising edge
Input the listening service channel assigned through
USINT ListenCH
SOCKET_TCPLISTEN(1~16)
USINT AcceptCH Input socket service channel to accept connection with client(1~16)
UINT TIMEOUT Time-out
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0
ARRAY[4] Client-side IP with established connection(0~255)
AcceptedIP
OF USINT
UINT AcceptedPort Client-side Port with established connection(1~65535)

(1) Function
(a) Through SOCKET_TCPLISTEN, it accepts the connection of an external connection (Client) that comes into the service
channel (TCP Server) in the Listening status(Same function as Accept function)
(b) Refer to the example program “14.4 SOCKET SERVICE”.
(c) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Before executing the corresponding command, it is necessary to set the server through SOCKET_TCPLISTEN.
Close the service channel initialized with this command using the SOCKET_CLOSE command.
The maximum number of socket service channels is 16.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status Normal status
1 INVALID_PARAMETER - -
Command input parameter Command input parameter error
3 ALREADY_USED_CH
error
4 WAIT_TIMEOUT Normal range parameter input Normal range parameter input

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COMMAND_INSTANCE_ Reassign channels already in Reassign channels already in use

5
POOL_FULL use
SOCKET_CH_NOT_INITI Use after checking the usage Use after checking the usage status of the
7
ALIZE status of the AcceptCH AcceptCH
SOCKET_SERVICE_PRO Command timeout occurrence Command timeout occurrence
10
CEDURE
Check the other side (server) Check the other side (server) connection standby
11 SOCKET_CLOSED
connection standby status status

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.3 Connects to a relative TCP port.(TCP Client operation) (SOCKET_TCPCONNECT)

Function Block

Input
BOOL Execute Action on rising edge
USINT ConnectCH Enter the socket service channel to use for Connect(1~16)
Connect with the specified port number.
UINT LocalPort However, if it is 0, an empty TCP port other than the well-known port is
automatically assigned.(1~65535)
Timeout time(*)
UINT Timeout 0: no timeout
1~65535 : input value * 1sec Waiting
ARRAY[4]
TargetIP Destination IP to connect(0~255)
OF USINT
UDINT TargetPort Destination Port to connect(1~65535)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0
Local port number finally assigned after connection is
UINT LocalPortOut
established(1~65535)

(1) Function
(a) Attempts to connect with the destination side address ‘TargetIP’ and ‘TargetPort’. (Same function as connect function)
(b) Operation that appears differently for each product and when commands are executed
 When running after entering an unreachable IP to TargetIP
- XGI-CPUZ: Error On, Occurred ErrorID 16
- XMC: After maintaining Busy status as much as the value entered in Timeout, Error On,occured ErrorID 4(Wait
indefinitely when Timeout is 0)
 When executing after inputting the IP of the FEnet module that operates as a client to the TargetIP
- XGI-CPUZ: Error On, Occurred ErrorID 18
- XMC: Error On, Occurred ErrorID 10.
(c) Refer to the example program “14.4 SOCKET SERVICE”.
(d) Refer to the detailed operation specification “Command operation timing chart”.

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Tip
Close the service channel initialized with this command using the SOCKET_CLOSE command.
The maximum number of socket service channels is 16.
After the connection with the server and CLOSE, when reusing the same LocalPort, the use of the corresponding port may
be temporarily restricted. Refer to INVALID_ADDRESS_OR_PORT of occurrence error
It is recommended to set the automatic port assignment unless it is absolutely necessary to specify the LocalPort. (LocalPort
input value 0)

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
Command input
1 INVALID_PARAMETER - Normal range parameter input
parameter error
Attempt to use the
2 SYSTEM_RESERVED_PORT - Change Local Port input value
system reserved port
Reassign channels - Use after checking the usage status
3 ALREADY_USED_CH
already in use of the service channel
Command timeout - Check the other side (server)
4 WAIT_TIMEOUT
occurrence connection standby status
COMMAND_INSTANCE_POOL_FUL Exceeded command - Decrease the frequency of
5
L instance usage command execution
- Command operation retry through
Common errors that exception handling
10 SOCKET_SERVICE_PROCEDURE occur during service - Checking the destination side status
processing - Review input values
- System check
Attempts to process a
command on a socket - Check whether SOCKET_CLOSE
that has already been of the corresponding channel is
11 SOCKET_CLOSED
closed, or a connection operating during connection
that has been aborted processing
by the peer.
- When connecting using the same
local port after specifying a local port
and completing the connection, the
error may last up to 60 seconds for a
Input IP, PORT value
certain period of time to initialize the
12 INVALID_ADDRESS_OR_PORT abnormal, unavailable
port used for the existing connection.
status
- Check whether a port that is already
in use is specified
- Local Port normal input value, check
the range

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.4 Receive data from a TCP socket (SOCKET_TCPRECV)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(TCP)(1~16)
Time-out
UINT Timeout 0: no timeout
1~65535 : input value * 1sec Waiting
Save Size
UINT Size
Data size to read from RECVDATA(0~1400)
ANY_PTR Data Data receive buffer(address)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0
UINT RecvSize Receive data size(0~1400)

(1) Function
(a) The received data of the socket service channel set in ‘Channel’ is saved in ‘Data’. The size of data to be saved is
designated as ‘Size’.
(b) The actual received data size is output in ‘RecvSize’
(c) If there is no data received, it waits for the received data for the time set in the timeout (Timeout).
(d) Refer to the example program “14.4 SOCKET SERVICE”.
(e) Refer to the detailed operation specification “Command operation timing chart”.

Tip
If data is not received and the socket is closed with the SOC_CLOSE command, it will be terminated abnormally even if the
timeout is less than the timeout period.
Using a socket service channel initialized for TCP purposes
The total size of the data entered in Data must be greater than or equal to the value entered in Size.

 After TCP connection and disconnection of the destination side, when the command is operated
- XGI-CPUZ: Error On, ErrorID 11 occurs when executing after reading all the contents of the receive queue After
re-execution, Done On occurs
- XMC: After maintaining Busy status as much as the value entered in Timeout, Error On, occured ErrorID 4(Wait
indefinitely when Timeout is 0)
 After TCP connection, enter a value of 0 in Size and execute

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- XGI-CPUZ: Done On occurs

 In case the destination side sends a 0 size message, response to previous
 If the connection has already been terminated by the destination side at the time before the reception request
- After Busy, ErrorID 4 occurs (If Timeout value is 0, Busy state is maintained indefinitely)
 In case the destination side sends a 0 size message response to previous

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error Normal range parameter input
 Check the data send status of the
4 WAIT_TIMEOUT Command timeout occurrence destination side
Wait for send to continue
COMMAND_INSTANCE_P Decrease the frequency of command
5 Exceeded command instance usage
OOL_FULL execution
SOCKET_CH_NOT_INITIAL Control attempts through uninitialized Check whether the input socket channel
7
IZE channels is initialized
 Command operation retry through
SOCKET_SERVICE_PROC Common errors that occur during exception handling
10
EDURE service processing  Review input values
System check
Attempts to process a command on a
socket that has already been closed, or
11 SOCKET_CLOSED Check normal connection status
a connection that has been aborted by
the peer.
Check connection status of destination
13 CONNECTION_TIMEDOUT Connection time out occurred
side
 Check host device status
15 HOST_DOWN Host device error Check for abnormalities in cables and
connection paths
 Check host device status
16 HOST_UNREACH Host connection disable Check for abnormalities in cables and
connection paths
Check Connection denied status of
18 CONNECTION_REFUSED Connection denied
destination side

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.5 Send data from a TCP socket (SOCKET_TCPSEND)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(TCP)(1~16)
ANY_PTR Data Send data buffer(address)
UINT Size Send data size(0~1400)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0

(1) Function
(a) Data is transmitted through the socket service channel set as 'Channel'. The size of data to be sending is designated as
‘Size’.
(b) Refer to the example program “14.4 SOCKET SERVICE”.
(c) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Using a socket service channel initialized for TCP purposes
The total size of the data entered in Data must be greater than or equal to the value entered in Size.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error - Normal range parameter input
SOCKET_CH_NOT_INITIA Control attempts through - Check whether the input socket
7
LIZE uninitialized channels channel is initialized
- Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during exception handling
10
CEDURE service processing - Review input values
- System check
Attempts to process a command
11 SOCKET_CLOSED - Check normal connection status
on a socket that has already been

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closed, or a connection that has

been aborted by the peer.
CONNECTION_TIMEDOU - Check connection status of
13 Connection time out occurred
T destination side
- Check host device status
15 HOST_DOWN Host device error - Check for abnormalities in cables and
connection paths
- Check host device status
16 HOST_UNREACH Host connection disable - Check for abnormalities in cables and
connection paths
- Check Connection denied status of
18 CONNECTION_REFUSED Connection denied
destination side

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.6 Performs a request to create a UDP socket. (SOCKET_UDPCREATE)

Function Block

Input
BOOL Execute Action on rising edge
USINT UdpCH Socket service channel to use with UDP
UINT LocalPort Local UDP port number(1~65535)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0

(1) Function
(a) Opens the socket service channel ‘UdpCH’ designated by the local UDP port number ‘LocalPort’. (Socket function
Socket(), executing Bind()).
(b) Refer to the example program “14.4 SOCKET SERVICE”.
(d) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Close the socket service channel opened with this command using the SOCKET_CLOSE command.
The maximum number of socket service channels is 16.
If the port specified by LocalPort is already in use or used for TCP purposes, the use of the port may be temporarily restricted.
Refer to INVALID_ADDRESS_OR_PORT of occurrence error.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error - Normal range parameter input
SYSTEM_RESERVED_P Attempt to use the system
2 - Change Local Port input value
ORT reserved port
- Use after checking the usage status
3 ALREADY_USED_CH Reassign channels already in use
of the service channel
- Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during
10 exception handling
CEDURE service processing
- Review input values

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- System check
- When the local port designated port
executes a command immediately
after TCP connection and
disconnection, the error may last up
to 60 seconds for a certain period of
time to initialize the port used for the
INVALID_ADDRESS_OR_ Input IP, PORT value abnormal,
12 existing connection, and retry the
PORT unavailable status
command operation through
exception handling.
- Check whether a port that is already
in use is specified
- Local Port normal input value, check
the range

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.7 Receive data from a UDP socket (SOCKET_UDPRECV)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(UDP)(1~16)
0: no timeout
UINT Timeout
1~65535 : input value * 1sec
Save Size(0~1400)
UINT Size
Data size to read from receive buffer
ANY_PTR Data Received data
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0
Receive data size(0~1400)
UINT RecvSize
Data size received in RecvData
ARRAY[4]
SenderIP Send side IP address(0~255)
OF USINT
UINT SenderPort Send side port number(1~65535)

(1) Function
(a) The received data of the socket service channel set in ‘Channel’ is saved in ‘Data’. The size of data to be saved is
designated as ‘Size’.
(b) The actual received data size is output in ‘RecvSize’
(c) The IP and Port numbers of the send are stored in ‘SenderIP’ and ‘SenderPort’, respectively.
(d) If there is no data received, it waits for the received data for the time set in the timeout (Timeout).
(e) Refer to the example program “14.4 SOCKET SERVICE”.
(f) Refer to the detailed operation specification “Command operation timing chart”.

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Tip
If data is not received and the socket is closed with the SOCKET_CLOSE command, it will be terminated abnormally even if
the timeout is less than the timeout period.
Using a socket service channel initialized for UDP purposes
The total size of the data entered in Data must be greater than or equal to the value entered in Size.

(g) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error - Normal range parameter input
- Check the data send status of the
4 WAIT_TIMEOUT Command timeout occurrence destination side
- Wait for send to continue
COMMAND_INSTANCE_P Exceeded command instance - Decrease the frequency of command
5
OOL_FULL usage execution
SOCKET_CH_NOT_INITIA Control attempts through - Check whether the input socket
7
LIZE uninitialized channels channel is initialized
- Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during exception handling
10
CEDURE service processing - Review input values
- System check
Attempts to process a command
on a socket that has already been
11 SOCKET_CLOSED - Check normal connection status
closed, or a connection that has
been aborted by the peer.
CONNECTION_TIMEDOU - Check connection status of
13 Connection time out occurred
T destination side
- Check host device status
15 HOST_DOWN Host device error - Check for abnormalities in cables and
connection paths
- Check host device status
16 HOST_UNREACH Host connection disable - Check for abnormalities in cables and
connection paths
- Check Connection denied status of
18 CONNECTION_REFUSED Connection denied
destination side

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.8 Send data from a UDP socket (SOCKET_UDPSEND)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(UDP)(1~16)
UINT ReceiverPort Receive side port number(1~65535)
ARRAY[4] OF ReceiverIP
Receive side IP address(0~255)
USINT
ANY_PTR Data Send data
UINT Size Send data size(0~1400)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0

(1) Function
(a) Data is transmitted through the socket service channel set as 'Channel'. The size of data to be sending is designated as
‘Size’.
(b) The receiving node is designated as ‘ReceiverIP’ and ‘ReceiverPort’.
(c) Refer to the example program “14.4 SOCKET SERVICE”.
(d) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Using a socket service channel initialized for UDP purposes
The total size of the data entered in Data must be greater than or equal to the value entered in Size.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error Normal range parameter input

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SOCKET_CH_NOT_INITIA Control attempts through Check whether the input socket channel is
7
LIZE uninitialized channels initialized
 Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during exception handling
10
CEDURE service processing  Review input values
System check
Attempts to process a command
on a socket that has already been
11 SOCKET_CLOSED Check normal connection status
closed, or a connection that has
been aborted by the peer.
CONNECTION_TIMEDOU
13 Connection time out occurred Check connection status of destination side
T
 Check host device status
15 HOST_DOWN Host device error Check for abnormalities in cables and
connection paths
 Check host device status
16 HOST_UNREACH Host connection disable Check for abnormalities in cables and
connection paths
Check Connection denied status of destination
18 CONNECTION_REFUSED Connection denied
side

※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.9 Check information for each channel of socket service (SOCKET_SVCINFO)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(1~16)
Socket service information read mode setting
USINT Mode 0: Channel type
1: Receive buffer remaining data size
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0
Details according to Mode setting
Mode: 0
0: SocketUndefined
1: SocketEstablishing
2: SocketForTcpClient
DINT Info
3: SocketForTcpServer
4: SocketForTcpServerPeer
5 : SocketForUdp
Mode: 1
Receive buffer remaining data size
(1) Function
(a) Acquire detailed information according to the mode of the socket service channel set as ‘Channel’.
(b) Refer to the example program “14.4 SOCKET SERVICE”.
(c) Refer to the detailed operation specification “Command operation timing chart”.
Tip
Used after initialization of socket service channel.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error - Normal range parameter input
- Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during exception handling
10
CEDURE service processing - Review input values
- System check
※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.10 Initializes the receive buffer of a TCP or UDP socket. (SOCKET_BUFCLEAR)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(1~16)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0

(1) Function
(a) Initializes the receive buffer of the socket service channel set as ‘Channel’.
(b) Initializes the remaining receive buffer at the time of command call.
(d) Refer to the example program “14.4 SOCKET SERVICE”.
(e) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Used after initialization of socket service channel.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error - Normal range parameter input
SOCKET_CH_NOT_INITIA Control attempts through - Check whether the input socket
7
LIZE uninitialized channels channel is initialized
- Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during exception handling
10
CEDURE service processing - Review input values
- System check
※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.11 Close the socket service channel. (SOCKET_CLOSE)

Function Block

Input
BOOL Execute Action on rising edge
USINT Channel Socket service channel(1~16)
Output
BOOL Done Function block completion status
BOOL Busy During execution of function block
BOOL Error Whether an error occurred
UINT ErrorID ID in case of error - in normal operation: 0

(1) Function
(a) Close the socket service channel set as ‘Channel’.
(b) Refer to the example program “14.4 SOCKET SERVICE”.
(c) Refer to the detailed operation specification “Command operation timing chart”.

Tip
Used after initialization of socket service channel.

(2) Error Status Information

ID Error name Cause Solutions
0 No Error Normal status -
1 INVALID_PARAMETER Command input parameter error - Normal range parameter input
SOCKET_CH_NOT_INITIA Control attempts through - Check whether the input socket
7
LIZE uninitialized channels channel is initialized
- Command operation retry through
SOCKET_SERVICE_PRO Common errors that occur during exception handling
10
CEDURE service processing - Review input values
- System check
※ Errors occurring outside the list Refer to “SOCKET SERVICE Common Error”

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6.10.12 Read local Ethernet IP, SUBNET MASK, GATEWAY (L_NET_INFO)

Function Block

Input
BOOL EN Function execution when 1
Output
BOOL ENO Output 1 when executed without error
ARRAY[4] OF WORD IP Local Ethernet IP address
ARRAY[4] OF WORD SUBNET Local Ethernet subnet mask
ARRAY[4] OF WORD GATEWAY Local Ethernet subnet mask
ARRAY[6] OF WORD MAC Local Ethernet Mac address
(1) Function
(a) The L_NET_IP command allows you to read the IP address, subnet mask, and gateway information of the local

Ethernet.

(b) After executing the command, the IP address of the local Ethernet is displayed as follows.
 Local Ethernet Information Set
IP ADDRESS: 192.168.0.100
Subnet: 255.255.255.0
Gateway: 192.168.0.1
MAC ADDRESS: 00-16-EA-50-AB-CD

 Display Information

IP[0] : 192 (0x00C0 GATEWAY[0] : 192 (0x00C0)

IP[1] : 168 (0x00A8) GATEWAY[1] : 168 (0x00A8)
IP[2] :0 (0x0000) GATEWAY[2] :0 (0x0000)
IP[3] : 100 (0x00C8) GATEWAY[3] :1 (0x0001)

SUBNET[0] : 255 (0x00FF) MAC[0] : 0x0000

SUBNET[1] : 255 (0x00FF) MAC[1] : 0x0016
SUBNET[2] : 255 (0x00FF) MAC[2] : 0x00EA
SUBNET[3] :0 MAC[3] : 0x0050
(0x0000) MAC[4] : 0x00AB
MAC[5] : 0x00CD
(2) Program Example

L_NET_INFO(IP=>(*ARRAY[0..3]_OF_WORD*),SUBNET=>(*ARRAY[0..3]_OF_WORD*),
ST
GATEWAY=>(*ARRAY[0..3]_OF_WORD*), MAC=>(*ARRAY[0..5]_OF_WORD*))

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6.10.13 Local Ethernet IP, SUBNET MASK, GATEWAY settings (SET_IP)

Function Block

Input
BOOL REQ Function block execution request
ARRAY[4] OF WORD IP Local ethernet IP address to set
ARRAY[4] OF WORD SUBNET Local ethernet subnet mask to set
ARRAY[4] OF WORD GATEWAY Local ethernet gateway to set
Output
BOOL DONE Maintain 1 after initial operation
USINT STAT Complete and ERR information

(1) Function

(a) The SET_IP command allows you to set the IP address, subnet mask, and gateway of the local Ethernet.

(b) Only available with XGI-CPUUN with local Ethernet.

(c) When setting the IP address, subnet mask, and gateway, you need to set the IP address, subnet mask, and gateway

as shown below.

IP Address

Subnet Mask

Gateway

IP Address Subnet Mask Gateway

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(2) Error Status Information

If the local Ethernet parameter is abnormal or the command is duplicated, the following error may occur

STAT Contents Details

0 Normal performance Command execution complete

11 Above user setting value User set IP / SUBNET / GATEWAY setting value is not valid

Above existing local Ethernet parameter setting

12 Above the default setting (Local Ethernet parameters have never been downloaded or parameter

errors are present)

If the instruction is already being executed

13 Duplicate request error
(The instruction can not be duplicated)

14 Timeout Timeout processed because command execution is not completed

(3) Program Example

INST_SET_IP(REQ:=REQ_BOOL, IP:=ARY_IP, SUBNET:=ARY_SUBNET, GATEWAY:=ARY_GATEWAY,
ST
DONE=>DONE_BOOL,STAT=>STAT_USINT)

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6.11 Other Commands

6.11.1 PID calculation (PID)

Function Block

PID
BOOL Enable ENO BOOL
LREAL SV STAT WORD
LREAL PV MV LREAL
LREAL K_p
LREAL T_i
LREAL T_d
LREAL MV_dmax
LREAL MV_max
LREAL MV_min
LREAL PV_dmax
LREAL AWD
LREAL D_on_ERR

Input
BOOL Enable Execute the fuction block
LREAL SV Set value (SV)
LREAL PV Present value (PV)
LREAL K_p P constant (K_p)
LREAL T_i I constant (T_i)[sec]
LREAL T_d D constant (T_d)[sec]
LREAL MV_dmax MV variation limit
LREAL MV_max MV maximum limit
LREAL MV_min MV minimum limit
LREAL PV_dmax PV variation limit
BOOL AWD Anti Wind-up prohibit (0: operation, 1: prohibit)
BOOL D_on_ERR DSelect Differential Calculation Source (0:PV, 1:ERR)
Output
BOOL ENO Display that PID calculation is executing normally.
WORD STAT PID status alarm
LREAL MV Manupulate value (MV)

(1) The function block receives the set value (SV) and the present value (PV) of control object, executes PID calculation to output
Manupulated value.
(2) The set value input is current status of control object. The status is expressed as a number, you should convert to PV and input
according to system gain. For example, in a system where PV is sensed as 5000 when the temperature is 50℃, SV is set to
5000 when controlling as the temperature to 50℃.

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(3) The present value input is an the indicator of the current status of control object, in general, the input from the sensor saved in
the device of CPU through an input devices such as A/D conversion module, and the value must be transfered and inputed as
the PV input.

(4) The K_p input set the proportional constant of the current PID calculation. K_p is multipled by P,I,D(proportional,integral,
differential) term of the PID control, if K_p is increase, proportion, differential effect are increase and the integral effect is
decrease. In particular, if K_p input is 0, PID control is not operation.

(5) The T_i input set the integral time constant of the relevant loops. T_i is divided by I (integral) term of the PID control, if T_i is
increase, the integral effect is decrease. In particular, if T_i input is 0, I control is not operation.

(6) The T_d input sets the differential time constant of the relevant loops. T_d is multiplied by the D (differential) term of the PID
control, if T_d is increase, the differential effect is increases. If T_d input is 0, D control is not operation.

(7) The PV_max input limits PV variation of the loop. In actuall control, the PV does not always reflect exact status of the system.
The unwanted signal such as malfunction of sense, noise or disturbance can be mixed and reflected in PV. The PV change
abruptly and casues a large change in PID output. To prevent this situation, when the PV changes more than setting value in
_PID[B]_[L]dPV_max, at first it prevent change more than setting value. On the other hand, when PV_dmax set in too small,
change of the system is slowly reflected and the convergence time takes longer, set to meet the system features. In particular,
when the setting value set to “0”, the PV variation limit function does not operate.

(8) The MV_max input limits MV variation of the loop. Prevent overload and block the syatem error by limit maximum value of
controller output transferring to output devices. Also transferring the unwanted value like overflow is prevented.

(9) The MV_min input limits MV minimum value of the loop. Prevent the syatem error previously by limit mimimum value of
controller output transferring to output devices. Also transferring the unwanted value like overflow is prevented.

(10) D_on_ER input sets the D calculation source of the PID loop to ERR. D calculation is calculated with ERR or PV, when
calculating D calculation using ERR, the D response is abruptly changed by the user, so excessive input can be applied to to
driver instantly. To prevent this, the method using PV in D calculation is applied and the default value is also set to execute D
calculation using PV. If using ERR without this algorism, this bit is turned On. If the bit is off, the PID executes D calculates with
the PV value, if it is on,it executes D calculation with EER value.

(11) The AWD input is the input to activate or deactivate the Anti Wind-up function. If the input turns on, the Anti Wind-up function
is disabled.

(12) Each bits of STAT output displays the status or abnormal status of the PID controller. Each bit is on only at the moment the
opearion occurs and returns to off when the operation is canceled. Lower 8 bits of STAT display each error status of the loops,
and the upper 8 bits display control status of the loops. The assignment of each bits are as follows.

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Bit Status
0 Alarm when skipping operation because T_s setting is too small.
2 Alarm that the PV variation is limited.
3 Alarm that the MV variation is limited.
4 Alarm that the MV maximum is limited.
5 Alarm that the MV minimum is limited.
8 Alarm that PID calculation is in operation.
15 Alarm that the Anti Wind-up is in operation during PID operation.

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6.11.2 LINAC (Accelerator/Decelerator command)

Function Block

Input
BOOL REQ Execute the function block
BOOL QS Input emergency stop
LREAL VEL Set the target speed [u/s].
LREAL ACC Set acceleration [u/s2].
LREAL DCC Set deceleration [u/s2].
LREAL QCC Set emergency stop deceleration [u/s2].
Output
BOOL DONE Function block completion status
BOOL QACC Display whether accelerating.
BOOL QDCC Display whether decelerating.
BOOL QZSP Display whether zero speed of current speed.
BOOL QEQU Display whether the target speed matches the current speed.
LREAL CV Display the current speed.
LREAL DVDT Display current acceleration / deceleration.

(1) The function block outputs the speed value reached by applying constant acceleration/deceleration to input speed to reach.

VEL CV

T im e T im e
A c c e le ra tio n D e c e le ra tio n

(2) REQ input is using ACC/DCC/QCC value of function block in rising edge and ACC/DCC/QCC value does not change during

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operation.

(3) QACC/QDCC/QZSP/QEQU output is as follows during operation.

(4) If QS value is “1” decelerate (rapid deceleration) as deceleration speed set in QCC. If QS value changes to “0” release
deceleration and acelerate/decelerate as inputted target speed.

(5) If the speed of stop status is “0” accelerate to the direction of inputted target speed and decelerate reverse direction. If the stop
operation is operation at 0 speed, the direction of acceleration/deceleration is changed.

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6.11.3 SLINAC (S-curve Accelerator/Decelerator command)

Function block

Input
BOOL REQ Execute the function block
BOOL QS Input emergency stop
LREAL VEL Set the target speed [u/s].
LREAL ACC Set acceleration [u/s2].
LREAL DCC Set deceleration [u/s2].
LREAL QCC Set emergency stop deceleration [u/s2].
LREAL JERK Set acceleration/deceleration change rate. [u/s3]
Output
BOOL DONE Function block completion status
BOOL QACC Display whether accelerating.
BOOL QDCC Display whether decelerating.
BOOL QZSP Display whether zero speed of current speed.
BOOL QEQU Display whether the target speed matches the current speed.
LREAL CV Display the current speed.
LREAL DVDT Display current acceleration / deceleration.
BOOL DONE Display completion status of function block.

(1) The function block outputs the speed value reached by appling acceleration/deceleration with JERK up to the input speed.

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(2) REQ input is using ACC/DCC/QCC value of function block in rising edge and ACC/DCC/QCC value does not change during
operation.

(3) QACC/QDCC/QZSP/QEQU output is as follows during operation.

(4) If changing the target speed before reaching target speed, the overshoot or undershoot can be occurred.

(5) If QS value is “1” decelerate (rapid deceleration) as deceleration speed set in QCC. If QS value changes to “0” release
deceleration and acelerate/decelerate as inputted target speed.

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Chapter 7 Program

7.1 Program Configuration and Operation Method

The program of the motion controller is divided into main task program, periodic task program and initialization task program.
The features of each program in execution are as follows.

Configuration of program
The motion controller's initialization, main and periodic task programs are executed based on the cycle. Each task has a fixed cycle and
is set by the user in the default parameters. There are two configurable cycles: main task cycle and periodic task cycle. The initialization
task adopts the cycle of the main task.

Classification Content
• The initialization task program is the first task program executed after the motion controller
completes its own initialization required for operation when power is applied. It runs until the
INIT_DONE command is executed.
• When the initialization program is executed, only the initialization program is executed and the
main task program and the periodic task program do not run until the INIT_DONE command
Initializing task program
is executed.
• Even while the initialization task program runs, I / O Refresh and other functions are executed
normally.
• The initialization task program is used to program various operations required for initial setting
of the motion controller.
• This program is executed at intervals of the main task’s cycle set in the motion controller.
• The main task’s cycle can be set in the "Main Task Cycle" of the basic parameters, and you
can select one among 500 μs, 1 ms, 2 ms, or 4 ms.
Main task program
• When the run time of the main task program exceeds the set main task cycle, the cycle warning
occurs. If the main task program is not completed during detecting the cycle error, the cycle
error occurs.
• The program is executed every periodic task cycle set in the motion controller.
• The periodic task cycle can be set in the "Periodic Task Cycle" of the basic parameters and
Periodic task program must be set to a multiple of the configured main task cycle.
• The periodic task program runs in the spare time after the motion controller executes the main
task program every main task cycle and then, it runs repeatedly every periodic task cycle.

For more details on the execution of the main task program and periodic task program, refer to "4.3 Motion control task".

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How to Set the Program

1) How to set the main task program

In the main task location, click the right mouse button and click 『Add item』-『Program』.
(However, when creating the project, the main task program is already created.)

2) How to set the cycle task program

In the cycle task location, click the right mouse button and click 『Add item』-『Program』.

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3) How to set the initialization task program

(1) In the initialization task location, click the right mouse button and click 『Add item』-『Program』.

(2) Create the necessary initialization program. Make sure to write the INIT_DONE command in the initialization task program.
(When the operating condition of the INIT_DONE is executed, the initialization task is terminated and the scan
program will run.)

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Run Time of the Program

The execution time (scan time) of each task program is calculated as follows. It means the time required from the start of each
control cycle to the time when the motion control execution is done, that is, the time required to complete the task.

1) Run time of the main task

It means the time from the start of the main task cycle to the time when the motion control execution is done.

Main task period

Performance time of main task

Output Input Perform

Processing
data Data motion
refresh refresh program
control

If the main task is not completed for one cycle, just measure the time from the start of the main task cycle to the time when the
main task is completed as shown below.

Main task period Main task period

Perform I/O Motion

Program
main task refresh control

Performance time of periodic task

2) Run time of the periodic task

It means the time from the start of the periodic task cycle to the time when the periodic task program is done. The periodic task
can be executed in several main task cycles because it runs after the main task is completed.

Main task period Main task period

Perform I/O Motion I/O Motion

Program Program
main task refresh control refresh control

Perform
Waiting Program Waiting Program
periodic task
Performance time of periodic task
Periodic task period

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3) How to check the task run time

The task run time of the motion controller can be checked by using XG5000 or the flag as follows.
(1) Using XG5000: Click 『Online』-『Diagnosis』-『PLC Information』-『Performance』.

(2) Using the flag: The scan time is stored in the system flag (F) area below.

WORD Flag Name Description

%FW512 _PTASK_SCAN_MAX Maximum scan time of main task program (Unit:100us)
%FW513 _PTASK_SCAN_MIN Minimum scan time of main task program (Unit:100us)
%FW514 _PTASK_SCAN_CUR Current scan time of main task program (Unit:100us)
%FW515 _CTASK_SCAN_MAX Maximum scan time of periodic task program (Unit:100us)
%FW516 _CTASK_SCAN_MIN Minimum scan time of periodic task program (Unit:100us)
%FW517 _CTASK_SCAN_CUR Current scan time of periodic task program (Unit:100us)

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7.2 Status Information Reading

In the program of motion control modules, each axis, status of axis group and operating status of the motion control module can be
checked with the flag.
Most of the program examples of chapter 7 is created using flags that indicate axis and status of axis group.
Flags that indicate the status information can be used directly in the program.
For more information on the types and functions of flags, refer to “Appendix 1. Flag list”.

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7.3 Discrete Motion Program

7.3.1 Operation Ready
These are example programs that make access to servo drive connected with Ethernet cable and get the connected servo drive to
be On to operate EtherCAT servo drive.

(2) 1 Scan on

(2) 1Axis/2Axis ready off (3) Connect EtherCAT

(3) 1Axis//2Axis
ready on

(3) 1Axis/2Axis servo on

(1) The above examples assume situation in which two axes of 1-axis and 2-axis are connected to the motion control module.
Assume the axis is connected to an EtherCAT slave and this slave is a servo drive.
(2) In case 1-axis and 2-axis are not connected when the motion control module enters the RUN, start the connection of EtherCAT
communication between motion control module and servo drive using motion function block for communication connection
(LS_CONNECT).
(3) If the connection of EtherCAT communication between motion control modules and servo drives is normally performed, servo
On/Off (MC_Power) command is issued to each axis by getting “SVON” contact to be On.
(4) In case there is no error in servo drive of the connected 1-axis and 2-axis, the servo is normally On, and it is ready to operate 1-
axis and 2-axis.

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7.3.2 Return to Origin Point operation

Homing is carried out to set the origin of the machine after the power is applied. Since homing is performed in the servo drive,
homing methods may vary depending on servo drive manufacturers. In motion control module, the completion of homing command
and error situation is monitored, and the position of the origin after homing is applied to control.
(1) Command condition
(2) Axis connection status (4) Axis servo-on status
(3) Axis error/
warning status (5) Axis operation status

(8) Homing command output variables

- Homing completed
(7) Homing command input variables - Function block in execution
- Command axis - Function block axis control in operation
- Position value after homing - Error occurrence state
- Buffer mode - Error number

(6) 1/2 Axis homing command

(1) Command condition

: It is a condition to make the axis perform homing operation.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis servo-on status flag
: If the axis is in servo-on state, it is On, and servo-off state, it becomes Off.

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(5) Axis operation status flag

: If the axis is in operation, it is On.
(6) 1/2 axis homing command
: In example programs, homing (MC_Home) motion function block is performed under the following conditions.
- Homing condition is On
- The axis is normally connected
- There should be no errors and warnings.
- Servo-on state
- Not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Homing command input variables
: These are input variables to perform homing (MC_Home) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Position value after homing: It sets the position value when homing is completed.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details on Function Block execution
mode, refer to “6.1.4 Buffer Mode input”.
(8) Homing command output variable
: It is a variable to store output value generated when homing (MC_Home) motion function block is executed.
- Homing completed: If homing operation is completed, it is On.
- Function Block in execution: If motion function block is being performed, it is On, and homing completion is On, it is Off.
- Function Block axis control in operation: In case motion function block is controlling the axis, it is On.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 basic I/O
variable”.

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7.3.3 Absolute / Relative Operation

It is a program for absolute position and relative position operation using motion control module. The absolute positon is based on
the origin and, and relative position the current position.

(1) Command condition

(2) Axis connection status (4) Axis servo-on status
(3) Axis error/
warning status (5) Axis operation status

(7) Relative position operation (8) Absolute position operation

command input variables command input variables
- Command axis - Command axis
- Changes in parameters during operation - Changes in parameters during
- Operating distance operation
- Operating velocity - Target position
- Operating acceleration - Operating velocity
- Operating deceleration - Operating acceleration
- Operating jerk - Operating deceleration
- Buffer mode - Operating jerk
- Buffer mode
(9) Absolute position operation
(6) 1Axis absolute position operation command / command output variables
2Axis relative position operation command - Operation completed
- Function block in executing
- Error occurrence state
- Error number

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(1) Command condition

: It is a condition to make the axis perform position control operation.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis servo-on status flag
: If the axis is in servo-on state, it is On, and servo-off state, it becomes Off.
(5) Axis operation status flag
: If the axis is in operation, it is On.
(6) 1-axis absolute position operation / 2-axis relative position operation commands
: In example programs, absolute position operation (MC_MoveAbsolute) is performed in 1-axis, and relative position operation
(MC_MoveRelative) in 2-aixs under the following conditions.
- The axis operation condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- Servo-on state
- Not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Relative position operation command input variables
: These are input variables to perform relative position operation (MC_MoveRelative) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing the input variables of motion
function block. For more information, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Operating distance: It sets distance to perform relative coordinate operation. Based on the current position, + value means
forward direction, and – value means reverse direction value.
- Operating velocity: It sets velocity to perform relative coordinate operation.
- Operating acceleration, operating deceleration, operating jerk: It sets values to be applied in speed control operation
respectively.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
(8) Absolute position operation command input variables
: These are input variables to perform absolute position operation (MC_MoveAbsolute) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing the input variables of motion
function block. For more information, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Target position: It sets the position that moves to absolute coordinate operation.
- Operating velocity: It sets the velocity when absolute position operation is performed to the target position.
- Operating acceleration, operating deceleration, operating jerk: It sets values to be applied in absolute coordinate operation
respectively.
- Operating direction: It sets direction when moving to the target position. In case of 1, movement to the target position is made
through forward direction operation, in case of 2, operation is made in the direction that can reach the target area
in the shortest distance based on the current position, in case of 3, reverse direction, and in case of 4, movement
to the target position is made through operation in the direction of the current operation.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4
Buffer Mode input”.

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(9) Absolute position operation command output variable

: It is a variable to store output values generated when absolute position operation (MC_MoveAbsolute) motion function block is
executed.
- Operation completed: When absolute coordinate operation is completed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and operation completion is On, it becomes Off.
- Function Block axis control in operation: In case motion function block is controlling the axis, it is On.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of function block, refer to “Edge operation motion function block” of “6.1.3 Basic input and output
variables”.

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7.3.4 Speed/ Torque Control Operation

These are example programs for speed control and torque control operation using motion control modules. In case of the torque
control, torque control of servo drive is used, and in motion control module, command for executing torque control is issued, and
execution completion and status is monitored.

(1) Command condition

(2) Axis connection status
(3) Axis error/ (4) Axis servo-on status
warning status
(5) Axis operation status

(8) Velocity control operation

command input variables
- Command axis
- Changes in parameter
during operation
- Operating velocity
- Operating acceleration
(7) Torque control operation command input variables - Operating deceleration
- Command axis - Operating jerk
- Changes in parameter during operation - Operating direction
- Operating torque - Buffer mode
- Maximum time to reach operation torque
- Maximum speed (9) Velocity control operation command
- Maximum acceleration output variables
- Maximum deceleration - Reaching the set velocity completed
- Maximum jerk - Function block in execution
- Operating direction - Function block axis control in operation
- Buffer mode - Error occurrence state
- Error number
(6) 1Axis velocity control operation /
2Axis torque control operation command

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(1) Command condition

: It is a condition to make the axis perform speed control/torque control operations.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis servo-on status flag
: If the axis is in servo-on state, it is On, and servo-off state, it becomes Off.
(5) Axis operation status flag
: If the axis is in operation, it is On.
(6) 1-axis speed control operation/ 2-axis torque control operation commands
: In example programs, specified velocity operation (MC_MoveVelocity) motion function block is executed in 1-axis, and toque
control operation (MC_TorqueControl) motion function block is executed in 2-axis under the following conditions.
- The axis operation condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- Servo-on state
- Not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Torque control operation command input variables
: These are input variables to execute torque control operation (MC_TorqueControl) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing input variable values of the
motion function block. For more information, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Operation torque: It sets torque values in torque control operation.
- The maximum time to reach operation torque: It sets the maximum slope from the current torque until changed to the set torque.
Its unit is [Unit/s].
- Maximum speed, maximum acceleration, maximum deceleration, and maximum jerk: Not used.
- Operating direction: It sets direction to be operated with torque control. In case of 1, it operates in forward direction and in case
of 2, in reverse direction.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
(8) Speed control operation command input variables
: These are input variables to execute specified velocity operation (MC_MoveVelocity) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing input variable values of the
motion function block. For more information, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Operating velocity: It sets velocity in speed control operation.
- Operating acceleration, operating deceleration, operating jerk: It sets values to be applied in speed control operation
respectively.
- Operating direction: It sets directions in speed control operation. In case of 1, it operates in forward direction, in case of 2, in
reverse direction, and in case of 3, it operates in direction of the current operation.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4
Buffer Mode input”.

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(9) Speed control operation command output variable

: It is a variable to store output values generated when specified velocity operation (MC_MoveVelocity) motion function block is
executed.
- Reaching the set speed completed: When the set speed is reached through speed control operation, it is On.
- Function Block in execution: When motion function block is executed, it is On, and operation completion is On, it becomes
Off.
- Function Block axis control in operation: In case motion function block is controlling the axis, it is On.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of function block, refer to “Edge operation motion function block” of “6.1.3 Basic input and output
variables”.

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7.3.5 Axis stop

It is an example program to stop the axis in operation. The motion function block to stop the axis in operation includes “Immediate
Stop (MC_Stop)” and “Halt (MC_Halt)”. As a command to stop the axis, “Halt (MC_Halt)” performs “Halt (MC_Halt)”, the stop status
is aborted by other motion function blocks during the stop, and other motion function blocks can be executed. For more details, refer
to “Chapter 6 Command”.
(1) Command condition
(2) Axis connection status (4) Axis operation status
(3) Axis error/
warning status

(7) Emergency stop command

output variables
- Execution completed
(6) Axis stop command input variables
- Function block in execution
- Command axis
- Error occurrence state
- Stop deceleration
- Error number
- Stop jerk
- Buffer mode
(5) 1Axis emergency stop /
2Axis stop command

(1) Command condition

: It is a condition to give emergency stop/axis stop commands to the axis.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.

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(3) Axis error/warning status flag

: If there are errors and warning in the axis, it is On.
(4) Axis operation status flag
:If the axis is in operation, it is On.
(5) 1-axis emergency stop / 2-axis axis stop commands
: In example programs, immediate stop (MC_Stop) motion function block is executed in 1-axis, and halt (MC_Halt) motion function
block is executed in 2-axis under the following conditions.
- The axis stop condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- In operation
Conditions to execute motion function block may vary depending on systems.
(6) Axis stop command input variables
: These are input variables to execute Halt (MC_Halt) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Stop deceleration: Its sets deceleration from operating speed at the time of axis stop to a stop.
- Stop jerk: it sets the jerk at the stop time.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
(7) Emergency stop command output variables
: It is a variable to store output values generated when Immediate Stop (MC_Stop) motion function block is executed.
- Execution completed: In case the axis stop, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 basic I/O
variable”.

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7.3.6 Error handling

It is an example program to check the errors that occurred on the axis and conduct error reset.
(1) Command condition
(2) Axis connection status (4) Comparison of axis error number
(3) Axis error/
warning status

(7) Error reset command output variables

- Execution completed
(6) Error reset command input variables - Function block in execution
- Command axis - Error occurrence state
- Error type - Error number
(5) Error reset command

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(1) Command condition

: It is a condition to give error reset commands to the axis.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Comparison of axis error number
: In example programs, a case where the value of error number flag on the axis is not 0 is determined to be error reset condition
through a comparison.
(5) Error reset command
: In example programs, axis error reset (MC_Reset) motion function block is executed under the following conditions.
- The axis operation condition is On.
- The axis is normally connected
- There should be error and warnings.
- Error number is not 0.
Conditions to execute motion function block may vary depending on systems.
(6) Error reset command input variables
: These are input variables to execute axis error reset (MC_Reset) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Error type: The type of error for error rest is set. 0 represents axis error, and 1 common error.
(7) Error reset command output variables
: It is a variable to store output values generated when axis error reset (MC_Reset) motion function block is executed.
- Execution completed: When the execution of motion function block is completed, it is On.
- Function Block in execution: If motion function block is being performed, it is On, and execution is completed, it becomes Off.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 basic I/O variable”.

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7.3.7 Operation Change

It is an example program to change the current location of the axis and speed in operation.

(1) Command condition

(2) Axis connection status (4) Axis operation status
(3) Axis error/
warning status

(6) Velocity override command input variables (7) Current position change
- Command axis command output variables
- Velocity override ratio - Execution completed
- Acceleration override ratio - function block in execution
- Jerk override ratio - Error occurrence state
- Error number
(5) 1Axis current position change /
2Axis velocity override command

(1) Command condition

: It is a condition to give current location change/operating speed change commands to the axis.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis current location change/2-axis speed override command
: In the example program, the current location setting (MC_SetPosition) motion function block is executed under the following
conditions.

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- The current location change condition is On.

- The axis is normally connected
- There should be no errors and warnings.
- The axis is not in operation.
In addition, speed/acceleration override (MC_SetOverride) motion function block is executed under the following conditions.
- The operating speed change condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- The axis is in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Speed override command input variables
: These are input variables to execute speed/acceleration override (MC_SetOverride) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Speed override ratio: It sets the ratio of the speed to change in comparison with operating speed that is currently set.
- Acceleration override ratio: It sets the ratio of the acceleration to change in comparison with acceleration value which is currently
set.
- Jerk override ratio: It sets the ratio of the jerk to change in comparison with jerk value that is currently set. That is, if 2 is set to
the value of the ratio, double the currently set value is set. .
(7) Current location change command output variables
: These are variables to store output values generated when the current location setting (MC_SetPosition) motion function block
is executed.
- Execution completed: When the execution of motion function block is completed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 basic I/O
variable”.

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7.3.8 Read/ Write Parameter

Parameter read/write commands include “Parameter Write (MC_WriteParameter)” and Parameter Read (MC_ReadParameter)”
as well as “SDO Write (LS_WriteSDO)” and “SDO Read (LS_ReadSDO)”.
“Parameter Write (MC_WriteParameter)” and “Parameter Read (MC_ReadParameter)” are commands to write and read
operation parameters of the axis or encoder parameter, and “SDO Write (LS_WriteSDO)” and “SDO Read (LS_ReadSDO)” are
commands to read or write SDO data of the connected EtherCAT slaves. If the slave of the connected EtherCAT is a servo drive,
the SDO data becomes servo parameters. The following is an example of the program to read or change the operating parameters
and servo parameters using Read / Write commands servo drive and the parameter when slave 2 is a servo drive and it is connected
to 2 axes.

 Parameter Read

(1) Command condition

(3) Axis error/warning status
(2) Axis connection status
(4) Axis operation status

(6) Parameter read command

input variables
- Command axis
(7) SDO read command input variables - Parameter number
- Command slave
- SDO Index number (8) Parameter/SDO read
- SDO SubIndex number command output variables
- SDO size - Operation completed
(5) 1Axis parameter read / - Function block in execution
Slave2 SDO read command - Error occurrence state
- Error number
- Read parameter value
/read SDO value

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(1) Command Condition

: It is a condition to read parameters and serve parameters of the axes.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis parameter write/ 2-axis servo parameter read commands
: In example programs, Parameter Read (MC_ReadParameter) motion function block is executed in 1-axis, and Servo Parameter
Read (LS_ReadSDO) motion function block is executed in 2-axis under the following conditions.
- Parameter read condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- Not in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Parameter read command input variables
: These input variables to execute Parameter Read (MC_ReadParameter) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Parameter number: It sets the parameter numbers to read with motion function block.
Numbers by parameter are as follows.
No. Parameter Item Note
0 Unit 0: pulse, 1: mm, 2: inch, 3:degree
1 1 Pulse per revolution 1 ~ 4,294,967,295[pulse]
2 1 Travel per rotation 0.000000001 ~ 4,294,967,295 [Unit]
3 Speed command unit 0: Unit/sec, 1: Unit/min, 2: rpm
LREAL Positive number [Unit/s, rpm]
4 Speed limit value Change according to Unit, Pulses per rotation, Travel per
Standard setting rotation, Speed command unit
5 Emergency stop deceleration 0 or LREAL Positive number [Unit/s2]
6 Encoder select 0:Incremental Encoder,1:Absolute Encoder
7 Gear ratio(Motor) 1 ~ 65,535
8 Gear ratio(Machine) 1 ~ 65,535
9 Operation mode of the reverse rotation 0:disabled,1:enabled
46 Position Control Range Expansion 0: Disable, 1: Able
10 S/W upper limit LREAL*Note 1) [units]
11 S/W low limit LREAL*Note 1) [units]
12 Infinite running repeat position LREAL Positive number [Unit]
13 Infinite running repeat 0:disabled,1:enabled
14 Command Inposition range 0 or Long real (LREAL) positive number*1) [Unit]
15 Expansion Exceeding value of tracking error 0 or Long real (LREAL) positive number*1) [Unit]
setting Current position compensation 0 or Long real (LREAL) positive number*1) [Unit]
16
amount
17 Current speed filter time constant 0 ~ 100
18 Error reset monitoring time 1 ~ 1000 [ms]
19 S/W limit during speed control 0: Not detect , 1 : detect
20 Tracking error level 0: Warning, 1: Alarm

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LREAL Positive number

21 Jog high speed
(Jog low speed ~speed limit ) [Unit/s]
LREAL Positive number
22 Jog low speed
( < Jog high speed) [Unit/s]
23 JOG Acceleration 0 or LREAL Positive number [Unit/s2]
24 JOG Deceleration 0 or LREAL Positive number [Unit/s2]
25 JOG Jerk 0 or LREAL Positive number [Unit/s3]
26 Override mode 0: Specified by ratio, 1: Specified by unit
29 Backlash compensation amount 0 or Long real (LREAL) positive number*1) [Unit]

No. Parameter Item Note

Identifying range to reach the spindle 0~100%
27
rotation command speed
NC setting
Identifying RPM to reach the spindle 0~ 100rpm
28
rotation zero speed
0: Not Use, 1: Motor ENC, 2: Built-in ENC1,
30 Select the Spindle Encoder
3: Built-in ENC2, 4: EtherCAT ENC
Number of pulses per rotation of the
31 1 ~ 4294967295
spindle EtherCAT encoder
Spindle EtherCAT encoder position 0: I device, 1: M device
32
variable
NC Spindle
0~4095 (Spindle EtherCAT encoder position variable = 0: I)
Axis Setting Spindle EtherCAT encoder position
33 0~524287 (Spindle EtherCAT encoder position variable = 1:
address
M)
The P Gain of the Spindle Positioning
34 1~500 Hz
Mode
The Feed Forward Gain of the Spindle
35 0~100 %
Positioning Mode
0: Servo drive supported, 33:Reverse direction, Z phase,
36 Home operation method 34: Forward direction, Z phase, 35: Set the homing of the
current position
LREAL Positive number
Switch navigation speed of the homing
37 Zero navigation speed of the origin operation ≤ Switch
operation
navigation speed of the origin ≤ Limit value of speed
Zero navigation speed of the homing -
38
operation
NC spindle
Acceleration/deceleration of the 0 or LREAL Positive number [Unit/s2]
39 home setting
homing operation
40 Z phase variable 0: I device, 1: M device
0~131071 (Z phase variable = 0: I)
41 Z phase address
0~16777215 (Z phase variable = 0: M)
Long real (LREAL) positive number*note1) (≤ Limit value of
42 Orientation velocity
speed)
43 Orientation direction 0:forward direction , 1:reverse direction
44 Orientation offset 0~360
100 Encoder 1 unit 0: pulse, 1: mm, 2: inch, 3:degree
Built-in
101 Encoder 1 1 pulse per rotation 1 ~ 4,294,967,295[pulse]
encoder
102 Encoder 1 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit]
setting
103 Encoder1 pulse input 0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier

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No. Parameter Item Note

2: Pulse/Dir 2 multiplier, 3: Phase A/B 1 multiplier
4: Phase A/ B 2 multiplier, 5: Phase A/B 4 multiplier
104 Encorder1 max. value (Encoder1 min. value + 1) ~ 2147483647
105 Encoder1 Min. value -2147483648~(Encoder1 Max. value-1)
0: Disable, 1:500kPPS
2: 200kPPS, 3: 100kPPS
106 Encoder1 input filter value
4: 10kPPS, 5: 1kPPS
6: 0.1kPPS
107 Encoder1 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm
108 Encoder1 position filter time constant 0 ~ 1000 ms
200 Encoder 2 unit 0: pulse, 1: mm, 2: inch, 3:degree
201 Encoder 2 1 pulse per rotation 1 ~ 4,294,967,295[pulse]
202 Encoder 2 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit]
0:CW/CCW 1 multiplier, 1:PULSE/DIR 1 multiplier
203 Encorder2 pulse input 2: Pulse/Dir 2 multiplier, 3: Phase A/B 1 multiplier
4: Phase A/ B 2 multiplier, 5: Phase A/B 4 multiplier
204 Encorder2 max. value (Encoder1 min. value + 2) ~ 2147483647
205 Encoder2 Min. value -2147483648~(Encoder2 Max. value-1)
0: Disable, 1:500kPPS
2: 200kPPS, 3: 100kPPS
206 Encoder2 input filter value
4: 10kPPS, 5: 1kPPS
6: 0.1kPPS
207 Encoder2 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm
208 Encoder2 position filter time constant 0 ~ 1000 ms

* Note1) LREAL range: 2.2250738585072e-308 ~ 1.79769313486232e+308

Long real number (LREAL) positive range: 0 < x ≤1.79769313486232e+308

(7) SDO data read command input variable

: These are input variables to execute Servo Parameter Read (LS_ReadSDO) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Servo parameter index number, SubIndex number, size
: Each value is set in servo parameters to read. Refer to the instruction manual of the servo drive for index number, subindex
number and size of servo parameters.

(8) Parameter read/Servo parameter read command output variables

: These are variables to store output values generated when Parameter Read (MC_ReadParameter) and Servo Parameter
Read (LS_ReadSDO) motion function block is executed.
- Operation completed: If values of parameters and servo parameters is read, it is On.
- Function Block in execution: When motion function block is executed, it is On, and operation completion is On, it becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- Read parameter values/Read servo parameter values: Values of parameters and servo parameters read by the execution of
motion function block is stored.

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 Parameter write

(1) Command condition

(3) Axis error/warning status
(2) Axis connection status
(4) Axis operation status

(6) Parameter write command

input variables
- Command axis
(7) SDO write command input variables - Parameter number
- Command slave - Parameter value to write
- SDO Index number - Execution mode
- SDO SubIndex number
(8) Parameter/SDO write
- SDO size
command output variables
- SDO value
- Operation completed
- Function block in execution
(5) 1Axis parameter write / - Error occurrence state
Slave2 SDO read command - Error number

(1) Command condition

: It is a condition to write parameters and servo parameters of the axes.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis parameter write/ 2-slave SDO write commands
: In example programs, Parameter write (MC_WriteParameter) motion function block is executed in 1-axis, and SDO write
(LS_WriteSDO) motion function block is executed in 2-slave under the following conditions.

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- Parameter write condition is On

- The axis is normally connected
- There should be no errors and warnings.
- Not in operation.
Conditions to execute function block may vary depending on systems.
(6) SDO write command input variables
: These are input variables to execute Parameter Write (MC_WriteParameter) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Parameter number: It set parameter numbers to write with the motion function block.
- Parameter values to write: Values to write in the parameters are set.
- Execution mode: It specifies the point of time when parameters are written. If it sets 0, it changes parameter values upon
executing motion function block. If it sets 1, it is changed to the same point of time with “Buffered” of BufferMode. (Refer to
6.1.4 BufferMode)
(7) SDO write command input variables
: These are input variables to execute SDO write (LS_WriteSDO) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Servo parameter index number, subIndex number, size
: Each value is set according to servo parameters to write. Refer to instruction manual of the servo drive for index number,
subindex number and size of servo parameters.
- Values of servo parameters to write: Values to be written in the servo parameters is set.
(8) Parameter write/Servo parameter write command output variable
: It is a variable to store output values generated when Parameter write (MC_WriteParameter) and SDO write (LS_WriteSDO)
motion function block is executed.
- Operation completed: If values of the parameters and servo parameters are written, it is On.
- Function Block in execution: When motion function block is executed, it is On, and operation completion is On, it becomes Off.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On. As for error number, the
number that corresponds to error is generated in case error occurs.

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7.4 Multi-Axis Operation Program

7.4.1 Linear Interpolation operation

It is an example program to operate linear interpolation with axes set to the same group. In the example program, 1-axis and 2-axis
are assumed to be included in the same axis group. Refer to the example program of “7.4.5 Axis group processing” to include an
axis in axis group or remove the axis from axis group.

(1) Command condition

(2) Axis group connection status
(3) Axis group error/warning status
(4) Axis group servo-on status
(5) Axis group operation status

(7) Linear interpolation command input variables

- Command axis group (8) Linear interpolation command output variables
- Target position by axis - Execution completed
- Linear interpolation velocity - Function Block in execution
- Linear interpolation acceleration - Error occurrence state
- Linear interpolation deceleration - Error number
- Linear interpolation jerk
- Buffer mode
- Group operation route change mode
- Group operation route change parameter

(6) Axis group 1/Axis group 2 linear interpolation commands

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(1) Command condition

: It is a condition to give linear interpolation command to the axis group.
(2) Axis group connection state flag
: In case axes of the axis group to be operated are connected to motion control module, and EtherCAT communication with
motion control module is normally performed, it is On.
(3) Axis group error/Warning status flag
: If there are errors and warnings in axes included in the axis group, it is On.
(4) Axis group servo-on status
: If axes included in the axis group are in servo-on state, it is On.
(5) Axis group operation status flag
: If axes of the axis group are in operation, it is On.
(6) Axis group 1 absolute position linear interpolation/Axis group 2 relative position linear interpolation commands
: In example programs, absolute position linear interpolation operation (MC_MoveLinearAbsolute) is executed in axis group 1,
and relative position linear interpolation operation (MC_MoveLinearRelative) motion function block in axis 2 under the following
conditions.
- Linear interpolation operation condition is On.
- Axes included in the axis group are normally connected.
- There should be no errors and warnings.
- Axes of the axis group are not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Linear interpolation command input variables
: These are input variables to execute absolute position linear interpolation operation (MC_MoveLinearAbsolute) and relative
position linear interpolation operation (MC_MoveLinearRelative) motion function block.
- Command axis group: It sets axis group in which motion function block is executed.
- Target position by axis: Array variables are set, and linear interpolation operation target position of axes included in axis group
is set in order.
- Linear interpolation speed: It sets target speed to execute linear interpolation, when the speed refers to the interpolation speed.
- Linear interpolation acceleration, deceleration, jerk: they set values to be applied when performing linear interpolation.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
- Group operation route change mode and group operation route change parameter
: It specifies in which way the axis group in operation is connected to the trace the existing commands describe when linear
interpolation command is given. Refer to “6.1.6 Group operation route change settings”.
(8) Linear interpolation command output variable
: It is a variable to store output values generated when absolute position linear interpolation operation (MC_MoveLinearAbsolute)
and relative position linear interpolation operation (MC_MoveLinearRelative) motion function block is executed.
- Execution completed: When the execution of function block is completed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 basic I/O
variable”.

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7.4.2 Circular Interpolation operation

It is an example program to operate circular interpolation operation with axes set to the same group. In the example program, 1-axis
and 2-axis are assumed to be included in the same axis group. Refer to the example program of “7.4.5 Axis group processing” to
include an axis in axis group or remove the axis from axis group.
(1) Command condition
(2) Axis group connection status
(3) Axis group error/warning status
(4) Axis group servo-on status
(5) Axis group operation status

(8) Circular interpolation command output variables

- Execution completed
(7) Circular interpolation command input variables - Function block in execution
- Command axis group - The axis group being controlled by function block
- Circular interpolation method - Error occurrence state
(mid point, center point, radius) - Error number
- Axis-specific circular interpolation auxiliary point(Array)
- Axis-specific circular interpolation target point(Array)
- Circular interpolation path(CW, CCW)
- Circular interpolation velocity
- Circular interpolation acceleration
- Circular interpolation deceleration
- Circular interpolation jerk
- Buffer mode
(6) Axis group 1/Axis group2 circular interpolation commands

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(1) Command condition

: It is a condition to give circular interpolation command to the axis group.
(2) Axis group connection state flag
: In case axes of the axis group to be operated are connected to motion control module, and EtherCAT communication with
motion control module is normally performed, it is On.
(3) Axis group error/Warning status flag
: If there are errors and warnings in axes included in the axis group, it is On.
(4) Axis group servo-on status
: If axes included in the axis group are in servo-on state, it is On.
(5) Axis group operation status flag
: If axes of the axis group are in operation, it is On.
(6) Axis group 1 absolute position circular interpolation/Axis group 2 relative position circular interpolation commands
: In example programs, absolute position circular interpolation operation (MC_MoveCircularAbsolute) is executed in axis group 1,
and relative position circular interpolation operation (MC_MoveCircularRelative) motion function block in axis 2 under the
following conditions.
- Circular interpolation operation condition is On.
- Axes included in the axis group are normally connected.
- There should be no errors and warnings.
- Axes of the axis group are not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Circular interpolation command input variables
: These are input variables to execute absolute position circular interpolation operation (MC_MoveCircularAbsolute) and relative
position circular interpolation operation (MC_MoveCircularRelative) motion function block.
- Command axis group: It sets axis group in which motion function block is to be executed.
- Target position by axis: Array variables are set, and linear interpolation operation target position of axes included in axis group
is set in order.
- Circular interpolation method: It sets a method to execute circular interpolation through selection among mid-point method,
center point method and radius method.
- Axis-specific circular interpolation auxiliary point: It takes a form of array and sets auxiliary point required for circular interpolation
in the order of axes included in axis group.
- Axis-specific circular interpolation target point: It takes a form of array and sets target position in the order of axes included in
axis group.
- Circular interpolation velocity: It sets target speed to execute circular interpolation, when the speed refers to interpolation speed.
- Circular interpolation acceleration, deceleration, jerk: Values to be applied when circular interpolation is performed are set.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
(8) Circular interpolation command output variable
: It is a variable to store output values generated when absolute position circular interpolation operation
(MC_MoveCircularAbsolute) and relative position circular interpolation operation (MC_MoveCircularRelative) motion function
block is executed.
- Execution completed: When the execution of motion function block is completed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- The axis group being controlled by function block: When motion function block controls the axis group, it is On.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For details on the output of motion function block, refer to “Edge motion commands” of “6.1.3 Basic I/O Variable”.

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7.4.3 Synchronous operation

It is an example program on the synchronous operation in which serve axis moves in synchronization ratio set in the main axis.

(1) Command condition

(2) Axis connection status
(3) Axis error/warning status (4) Axis operation status

(5) 2 axis synchronous operation/Synchronous

operation cancellation commands

(6) Synchronous command input variables

- Main axis
- Slave axis
- Changes in parameter during operation
- Synchronization ratio numerator
- Synchronization ratio denominator
- Main axis data section
- Acceleration (7) Synchronous operation command output variables
- Deceleration - Synchronous operation
- Jerk - Function block in execution
- Buffer mode - The axis group being controlled by function block
- Error occurrence state
- Error number

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(1) Command condition

: It is a condition to give synchronous operation/synchronous operation cancellation commands to the axis.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 2Axis synchronous operation/Synchronous operation cancellation commands
: In the example program, electronic gear operation (MC_GearIn) motion function block is executed under the following conditions.
- Synchronous operation condition is On.
- The axis and main axis is normally connected.
- There should be no errors and warnings.
- The axis is not in operation.
In addition, electronic gear cancellation (MC_GearOut) motion function block is executed under the following conditions.
- Synchronous operation cancellation condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- The axis is in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Synchronous command input variables
: These are input variables to execute electronic gear operation (MC_GearIn) motion function block.
- Main axis: It sets serve axis of synchronous operation.
- Serve axis: It sets the axis in which synchronous operation is to be performed.
- Synchronization ratio numerator: It sets numerator value among synchronization ratio to be operated by synchronization of the
operation of main axis.
- Synchronization ratio denominator: It sets denominator among synchronization ratio to be operated by synchronization of the
operation of main axis.
- The speed of serve axis in a state of gear operation (InGear) is set as follows.

Serve axis speed = Main axis speed x (Synchronization ratio numerator/Synchronization denominator)

- Main axis data selection: It selects whether the data of main axis is set to command speed or current speed.
In case command speed is set, synchronization is achieved based on the speed of main axis calculated in motion control
module. In case current speed is set, synchronization is achieved by using speed data of main axis servo drive transmitted
through the communication.
- Acceleration, deceleration, jerk: Each value is set in synchronous operation.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
(7) Synchronous operation command output variable
: It is a variable to store output values generated when electronic gear operation (MC_GearIn) motion function block is executed.
- Synchronous operation: When serve axis is normally synchronized in main axis after the execution of motion function block, it
is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For details on the output of motion function block, refer to “Edge motion commands” of “6.1.3 Basic I/O Variable”.

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7.4.4 CAM Operation

It is an example program on the cam operation that moves in synchronization based on cam (CAM) profile in which serve axis is
set.

(1) Command condition

(2) Axis connection status
(3) Axis error/warning status (4) Axis operation status

(5) 2 axis cam operation/

Cam operation cancellation commands

(6) Cam operation command input variables

- Main axis
- Slave axis
- Changes in parameter during operation
- Main axis offset
- Slave axis offset
- Main axis magnification
- Slave axis magnification
- Cam operation starting point
- Distance of main axis
for starting cam operation
- Main axis data selection for cam operation
- Cam table number
- Buffer mode (7) Cam operation command output variables
- Cam operation
- Function block in execution
- The axis group being controlled by function block
- Error occurrence state
- Error number

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(1) Command condition

: It is a condition to give cam operation/cam operation cancellation commands to the axis.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 2-axis cam operation/Cam operation cancellation commands
: In the example program, cam operation (MC_CamIn) motion function block is executed under the following conditions.
- Cam operation condition is On.
- The axis and main axis are normally connected.
- There should be no errors and warnings.
- The axis is not in operation.
In addition, cam operation cancellation (MC_CamOut) motion function block is executed under the following conditions.
- Cam operation cancellation condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- The axis is in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Cam operation command input variables
: These are input variables to execute cam operation (MC_CamIn) motion function block.
- Main axis: It sets main axis of cam operation.
- Serve axis: It sets the axis in which cam operation is executed.
- Main axis offset: It sets offset values of main axis data to be used when cam table data is applied.
- Serve axis offset: It sets offset values of serve axis data to be used when cam table data is applied.
- Main axis magnification: It sets magnification of main axis data to be used when cam table data is applied.
- Serve axis magnification: It sets magnification of serve axis data to be used when cam table data is applied.
- Cam operation starting point: It sets the position of main axis which will be the starting point of cam table.
- Distance of main axis for starting cam operation: It sets the distance of main axis in which actual cam operation starts.
- Main axis data selection for cam operation: It selects main axis data which will be a basis of cam operation among main axis
command position and main axis current position.
- Cam table number: It sets cam data number to conduct cam operation.
- For details on cam operation command input variables, refer to “6.4.1 Cam operation (MC_CamIn)”.
- Changes in parameters during operation: It sets whether to apply to the operation by changing input variable values of the
function block. For more information, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately or
execute after the completion of commands which are currently being performed. For more details, refer to “6.1.4 Buffer Mode
input”.
(7) Cam operation command output variable
: It is a variable to store output values generated when cam operation (MC_CamIn) motion function block is executed.
- Cam operation: It is on when serve axis is synchronized in main axis according to cam data after the execution of motion
function block.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For details on the output of motion function block, refer to “Edge motion commands” of “6.1.3 Basic I/O Variable”.

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7.4.5 Axis Group processing

(1) Command condition

(2) Group connection status
(3) Error/Wrarnig status
(4) Group operation status

(6) Remove axis from group

command input variable (7) Add axis to group command
- Axis group output variables
- The axis ID on axis group ID - Execution completed
- Function block in execution
(5) 1 Axis add axis to group / - Error occurrence state
2 Axis remove axis from group commands - Error number

(1) Command condition

: It is a condition to give add axis to group/remove axis from group commands to the axis.
(2) Axis connection status flag
: When the axis to be operated is connected to motion control module, and EtherCAT communication with motion control module
is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis add axis to group/2-axis remove axis from group commands
: In the example program, add axis to group (MC_AddAxisToGroup) motion function block is executed under the following
conditions.
- Add axis to group condition is On.
- The axis is normally connected

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- There should be no errors and warnings.

- The axis is not in operation.
In addition, group axis exclusion (MC_RemoveAxisFromGroup) motion function block is executed under the following conditions.
- Remove axis from group condition is On.
- The axis is normally connected
- There should be no errors and warnings.
- The axis is not in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Remove axis from group command input variables
: These are variables to execute group axis exclusion (MC_RemoveAxisFromGroup) motion function block.
- Axis group: It sets the group to exclude the axis.
- It sets ID values granted when the axis is included in axis group.
(7) Add axis to group command output variable
: It is a variable to store output values generated when add axis to group (MC_AddAxisToGroup) motion function block is
executed.
- Execution completed: When motion function block is normally executed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, It becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For details on the output of motion function block, refer to “Edge motion commands” of “6.1.3 Basic I/O Variable”.

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7.4.6 Axis Group Operation Example

1. Group Configuration

2. Servo On

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3. Group Enable

4. Group Homing

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5. Linear Interpolation

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6. Group Disable

7. Ungroup

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8. Timing diagram

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7.5 I/O Processing Program

Motion controller has the input of 8 points and output of 16 points internal, and it can expand input and output points using external
EtherCAT input/output modules. EtherCAT input and EtherCAT output modules possible to be mounted on the outside can be expanded
up to 64 stations and up to 1,024 points.

7.5.1 Handling of Input signal

Internal input signals and signals inputted in external input module can be used in the program using an internal flag of the motion
control module.
For more information on the types and functions of flags, refer to “Appendix 1. Flag list”.

7.5.2 Handling of Output Signal

Internal output signals and signals inputted in external output module can be used in the program using an internal flag of the motion
control module.
For more information on the types and functions of flags, refer to “Appendix 1. Flag list”.

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Chapter 8 Motion Control Function

8.1 Origin Determination

In case the position control function of motion controller is used, the origin must be determined first to execute commands based
on the absolute coordinate position. The position value of absolute coordinates is the distance based on the predetermined origin(0
position). The origin determination means setting the origin of the machine for position control using absolute coordinates.

8.1.1 Origin Determination

(1) Methods to determine the origin
There are two methods to determine the origin of the machine as below.
(a) Homing
It is a method to determine the origin of the machine by moving the machine using a sensor connected to servo drive with
homing (MC_Home) motion function block.
When homing command is executed, the origin determination becomes the origin indetermination status, and homing is
successfully completed, it becomes the origin determination status.
(b) Current position setting
After moving the machine to a certain position by using JOG operation (LS_Jog) or relative coordinate position control
(MC_MoveRelative) motion function block, the position can be set to the specific position with the current position location
setting (MC_Setposition) motion function block. In this case, the position is recognized as an absolute coordinate and
becomes origin determination status. The origin determination status of axis can be identified with motion axis flag
AXxx_HOME_CMPL. (xx: axis number)

(2) Origin determination when using absolute encoders

In case of using absolute encoder in servo drive, absolute data value is maintained by battery backup even if the power is off.
Motion control module can continue to maintain the origin determination status by reading the current position from the value
of absolute encoder and calculating absolute coordinate position when it is connected to servo drive.
To this end, the encoder selection of basic parameters among operating parameters should be set to ‘1: Absolute encoder’ in
case of using absolute encoder. Even though the power of motion control module and servo drive is off after the establishment
of origin determination status, the previous origin determination status is maintained by calculating absolute coordinate position
when servo drive is connected in case encoder selection parameter is ‘1: Absolute encoder’ when the power is re-applied.
In absolute coordinate system using absolute encoder as above, the absolute coordinate position can be controlled without
the origin determination even after power off/on.
To use the absolute coordinate systems, the following conditions should be required.
(a) The servo motor should support the absolute encoder.
(b) Set the absolute encoder setting of servo drive to “absolute encoder enable”.
(c) Set the encoder setting in the axis parameter of motion module to “absolute encode”.

(3) Change to the origin indetermination status

The absolute position control operation cannot be performed since motion control module becomes the origin indetermination
status in the following cases.
(d) In case of re-connection after servo drive power off when using an incremental encoder
(e) In case of re-connection after PLC power off/on when using an incremental encoder

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(f) In case homing is not normally completed after the execution of homing command
In case of the origin indetermination status as above, the origin determination should be executed for absolute coordinate
position control operation.

8.1.2 Homing
(4) Operation
Before performing the homing, parameters related to the homing of servo drive must be set in each axis. Before performing
the homing, parameters related to the homing of servo drive must be set in each axis. When the origin position is determined
by homing, the origin detection signal is not recognized during the motion control operation.
The contact performed at the time of homing is entered through connector of servo drive (EtherCAT CoE support servo drive).
Typical wiring is as follows.

For the performance of homing, a method suitable for the system of users for homing operation mode (EtherCAT CoE support
drives: Refer to instruction manual for the relevant drive) should be selected.
In motion control module, actual operation after starting homing is performed in servo drive, and homing method to support
complies with servo drive. Before setting the homing, homing-related parameters are to be set in servo parameters of the axis.

■ Example of setting homing parameters

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 Relevant motion function block

Operation
Name Description
condition
MC_Home Perform homing Edge

MC_Home
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Position Busy BOOL
UINT BufferMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Operation
Name Description
condition
MC_GroupHome Perform group homing Edge

MC_GroupHome
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL[ ] Position Busy BOOL
UINT BufferMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Operation
Name Description
condition
MC_Home Perform group homing Edge
LS_Home
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Position Busy BOOL
SINT HomingMethod Active BOOL
LREAL SwitchSearchSpeed CommandAborted BOOL
LREAL ZeroSearchSpeed Error BOOL
LREAL HomingAcc ErrorID WORD
LREAL HomeOffset
UINT DoneBehavior
UINT BufferMode

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(5) XDL- N Series servo drive homing parameters and operation

The following figure shows input and output definitions of homing-related XDL N series servo drive parameters. The velocity,
acceleration and homing methods can be specified.

(a) Homing-related Parameters

Index Sub Name Data Type Unit
0x6040 - Control word UINT -
0x6041 - Status word UINT -
0x607C - Homing Offset DINT [pls]
 Cannot be set (can be set in function
block)
0x6098 - Homing Method SINT -
0x6099 - Homing Speeds - -
0 Item Number USINT -
1 Speed during search for Switch UDINT [pls/s]
2 Speed during search for zero UDINT [pls/s]
0x607D - Software Position Limit - -
0 Item Number USINT -
1 Min position limit DINT [pls]
2 Max position limit DINT [pls]
0x609A - Homing acceleration UDINT [pls/s2]

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(b) Homing Method (0x6098)

L7NH
Value Description Supported
or not
0 No Homing Unavailabl
e
(1) If NOT switch is Off, the initial movement direction becomes forward direction (CW). If NOT switch
is On, change of direction is made. The location that meets the first index pulse during operation in
reverse direction (CCW) after NOT switch is On becomes the Home position.
(2) If POT switch is Off, the initial movement direction becomes reverse direction (CCW). If POT switch
is On, change of direction is made. The location that meets the first index pulse during operation in
reverse direction (CW) after POT switch is On becomes the Home position.

1, 2 Supported

Methods (3) and (4) change the direction when the Home switch is On. After the home switch is On,
the point where the first index pulse meets during operation becomes the origin position.

3
Unavailabl
3, 4
e
4

Index pulse

Home switch

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L7NH
Value Description Supported
or not
Methods (5) and (6) change the direction when the Home switch is off. After the home switch is Off, the
point where the first index pulse meets during operation becomes the origin position.

5 Unavailabl
5, 6
e
6

Index pulse

Home switch

Through (7) to (10) methods, the origin position is determined by the Home switch and POT switch.
(7) Upper figure: If POT switch is Off, operation is made at switch search velocity, and the initial
movement direction becomes reverse direction CCW. If the Home switch is On, change of direction
is made. Afterwards, the location that meets the first index pulse during operation in forward direction
CW becomes the Home position, and operation is made at Zero search velocity.
(7) Middle figure: If POT switch is Off, and the Home switch is On, operation is made at switch search
velocity, and the initial movement direction becomes forward direction CW. If the Home switch is Off,
the speed is changed to Zero search velocity. Afterwards, the location that meets the index pulse first
7~10 during operation in forward direction CW becomes the Home position. Supported
(7) Below figure: If POT switch is Off, and the Home switch is On, operation is made at switch search
velocity, and the initial movement direction becomes forward direction CCW. If POT switch is On,
change of direction is made. When the Home switch is changed from On to Off, operation is made
at Zero search velocity, and the location where that meets index pulse first during continuous
operation in forward direction CW becomes the Home position.
(8) to (10) methods have the same positioning concept in homing with the above (7) method except
for the initial operational direction and motions according to the Home switch polarity. Refer to the
figure below.

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L7NH
Value Description Supported
or not

Through (11) to (14) methods, the origin position is determined by the Home switch and NOT switch.
(11) Upper figure: If NOT switch is Off, operation is made at switch search velocity, and the initial
movement direction becomes reverse direction CW. If the Home switch is On, change of direction
is made. Afterwards, the location that meets the first index pulse during operation in forward direction
CCW becomes the Home position, and operation is made at Zero search velocity.
(11) Middle figure: If NOT switch is Off, and the Home switch is On, operation is made at switch search
velocity, and the initial movement direction becomes forward direction CCW. If the Home switch is
Off, the speed is changed to Zero search velocity. Afterwards, the location that meets the index pulse
11~14 first during operation in forward direction CCW becomes the Home position. Supported
(11) Below figure: If NOT switch is Off, and the Home switch is On, operation is made at switch search
velocity, and the initial movement direction becomes forward direction CW. If NOT switch is On,
change of direction is made. When the Home switch is changed from On to Off, operation is made
at Zero search velocity, and the location where that meets index pulse first during continuous
operation in forward direction CCW becomes the Home position.
(11) to (14) methods have the same positioning concept in homing with the above (11) method except
for the initial operational direction and motions according to the Home switch polarity. Refer to the figure
below.

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L7NH
Value Description Supported
or not

14 12
13 11

14 11
13 12

13 11
14 12

Index pulse

Home switch

Negative limit switch

(NOT)

Methods (17) change the direction when the NOT switch is On. The position where the NOT switch is
turned off during operation after being turned on becomes the origin position.

Unavailabl
17
17 e
Negative limit switch
(NOT)

Methods (18) change the direction when the POT switch is On. The position where the POT switch is
turned off during operation after being turned on becomes the origin position.

Unavailabl
18
18 e

Positive limit switch

(POT)

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L7NH
Value Description Supported
or not
The Home position is determined as method (3),(4), but index pulse is not used. In addition, the point
where the Home switch is On/Off becomes the Home position.

19

Unavailabl
19, 20 19

20 e

20

Home switch

The Home position is determined as method (5),(6), but index pulse is not used. In addition, the point
where the Home switch is On/Off becomes the Home position.

21

21
Unavailabl
21, 22
e
22

22

Home switch

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L7NH
Value Description Supported
or not
The Home position is determined as method (7)~(10), but index pulse is not used. In addition, the point
where the Home switch is On/Off becomes the Home position.

26
24 25
23 (24)
23 , 23 26 Available,
24 , 25, 24 25 others
26 Unavailabl
23 e
24 25
26
Home switch

Positive limit switch

(POT)

The Home position is determined as method (11)~(14), but index pulse is not used. In addition, the
point where the Home switch is On/Off becomes the Home position.

30 28
29 27

30 27 (28)
27 , 29 28 Available,
28 , 29, others
30 29 27 Unavailabl
30 28 e
Home switch

Negative limit switch

(NOT)

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L7NH
Value Description Supported
or not
The location that meets index pulse first during movement in the reverse direction CCW/forward
direction CW becomes the Home position.

33, 34 Supported

35 Homing operation starting point becomes the Home position. Supported

The first movement direction is CW direction, and it operates at the switch search speed. If it collides
with the reverse stopper (Negative Stopper), it waits according to the torque limit value (0x2409)
when returning to the origin using the stopper and the time set value (0x240A) when returning to the
origin using the stopper, and then changes the direction. After that, it detects the first index pulse
during operation at the zero search speed and operates to the index position (Home).

Reverse direction (CW) Forward direction (CCW)

Supported
-1 L7NH
dedicated

The home position is determined as in the method (-1), but the initial movement direction is CCW, and Supported
-2 it collides with a positive stopper. L7NH
dedicated

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L7NH
Value Description Supported
or not
The first movement direction is CW direction, and it operates at the switch search speed. If it hits a
reverse stopper (Negative Stopper), it waits according to the torque limit value (0x2409) when Supported
-3 returning to the origin using the stopper and the time set value (0x240A) when returning to the origin L7NH
using the stopper, and then the return to the origin is completed. dedicated

The home position is determined as in the method (-3), but the initial movement direction is CCW, and Supported
-4 it collides with a positive stopper. L7NH
dedicated
The first movement direction is CW direction, and it operates at the switch search speed. When the
home switch is On, the home position return is completed after decelerating to a stop. It returns to
the origin using only the home switch, and if it meets the limit switch during homing, it decelerates
and stops after a homing error occurs.
Reverse direction (CW) Forward direction (CCW)

Supported
-5 L7NH
dedicated

The home position is determined as in the method of (-5), but the initial movement direction is CW. Supported
-6 L7NH
dedicated
Note) ▬ : Speed during search for switch (0x6099:01), → : Speed during search for zero (0x6099:02)

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(6) MC_STOP (immediate stop) command operation during homing

L7NH series can give a stop command with MC_STOP command during homing. At this time, the deceleration operation
varies according to the Quick Stop Option Code (0x605A) parameter.

(a) Stop operation according to Quick Stop Option Code (0x605A)

0x605A Quick Stop Option Code ALL
Variable tyype Setting Initial value Unit Accesibility PDO Chaging Store
range assignment property
INT 0 to 4 2 - RW No Always Yes

Setting Value Description

0,3,4 Deceleration stop with the value set in homing acceleration
(0x609A)
1, 3 Deceleration stop with the value set in Quick Stop
Deceleration (0x6085)

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8.2 Control Operation Type

Motion control modules execute control through programs set in motion control program. Kinds of motion control operations
include speed position control, speed velocity control, speed torque control, interpolation control, switching control between
position/velocity, switching control between position/torque, and switching control between velocity/torque.

8.2.1 Single-axis Position Control

It conducts position control of the axis specified after the execution by motion function block (「Relative position operation
(MC_MoveRelative)」and 「Absolute position operation (MC_MoveAbsolute)」) from starting position (current stop position)
to target position (position of the point to move)

(1) Control by absolute coordinate method (「Absolute position operation (MC_MoveAbsolute)」)

(a) It conducts position control from starting position to target position (location specified in ‘Position’ of absolute pos
ition operation command).
(b) Position control is executed based on position (the origin position) specified in the homing.
(c) In direction input, the direction to operate is specified. It is valid only if operation parameter 「Infinite running
repetition」setting is ‘1: Enable’.
 Setting value: 0-Not specified, 1–Forward direction, 2–Shortest distance direction, 3–Reverse direction, 4–Current
direction
 When the shortest direction distance is specified, the operation is made by selecting the direction that can go to the
shortest direction automatically depending on the form of the axis.
 Motions according to the direction (Direction) input are as follows.
1) 0- Not specified
The position value that exceeds repetitive length repetition position can be specified. In case of setting the
position value that exceeds the infinite running repetition position, the difference from target position to current
position becomes positioning distance. The command position after the absolute position operation is calculated
by the following equation.
Command position = Target position – (Infinite running repetition position x n)
(n: Integer value in which infinite running repetition position x n does not exceed the target position)

[Example] The absolute position operation is executed with the following settings.
- Infinite running repetition position: 100.0
- Current position : 40.0
- Goal Position : 120.0
- Command position after the absolute position operation = 120.0 – (100.0 x 1) = 20.0

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2) 1-Forward direction
Positioning is executed toward the absolute position of forward direction. In case the target position is set with
the range that exceeds infinite running repetition position, error (error code: 0x1081) occurs.

[Example] The absolute position operation is executed with the following settings.
- Infinite running repetition position: 100.0
- Current position : 60.0
- Goal Position : 40.0

3) 2-Shortest distance direction

Positioning is executed by automatically determining the direction of rotation possible to move through shorter
distance from the starting position to target position. That is, positioning toward closer direction to target position
based on the starting position is carried out.
In case the target position is set with the range that exceeds infinite running repetition position, error (error code:
0x1081) occurs.

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[Example] The absolute position operation is executed with the following settings.
- Infinite running repetition position: 360.0
- Current position : 45.0
- Goal Position : 270.0
- Since the movement distance is 225.0°in case of the operation in forward direction, and 135.0°in
case of the operation in reverse direction, operation is made in reverse direction, the shortest
distance direction.

4) 3-Reverse direction
Positioning is executed toward the absolute position of reverse direction. In case the target position is set with
the range that exceeds infinite running repetition position, error (error code: 0x1081) occurs.

[Example] The absolute position operation is executed with the following settings.
- Infinite running repetition position: 100.0
- Current position : 15.0
- Goal Position : 70.0

5) 4-Current direction
Positioning is executed depending on the current operating direction.
In case the current operating direction is forward, operation is made in the same way as in Direction=‘1-forward
direction’ setting.

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In case the current operating direction is reverse, operation is made in the same way as in Direction=‘3 reverse
direction’ setting.

(d) In case operation parameter 「Infinite running repetition」setting is ‘0: disable’, operating direction is determined
as follows.
- Starting position < target position: Positioning operation in forward direction
- Starting position > target position: Positioning operation in reverse direction

[Example] Executes Absolute coordinate, single-axis position control with the following setting
■ Starting Position: 1000
Goal Position: 8000
The moving amount to forward direction is 7000 (7000=8000-1000).

0 1000 8000

Moving amount : 7000

Starting position Target position

■ Related Motion Function Block
Name Description Operation
condition
MC_MoveAbsolute Absolute positioning Edge
operation
MC_MoveAbsolute
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Position Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT Direction
UINT BufferMode

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(2) Control by Incremental method (「Relative positioning operation(MC_MoveRelative)」)

(a) It moves the object as much as the target moving amount from start position. Unlike the target position of the
absolute coordinate, the value specified on target position is not position value. That is a transfer amount from
the starting position.
(b) Transfer direction is determined by the sign of moving amount.
■ The target position value is positive (+ or unsigned): forward direction (current position increase) positioning
■ The target position value is negative ( - ): reverse direction (current position decrease)

Starting position

Reverse Forward

Amount of movement is - Amount of movement is +

[ Example ] Executes Absolute coordinate, single-axis position control with the following setting
■ Starting Position: 5000
Goal Position: -7000
It goes to reverse direction and stops at the –2000.

-2000 0 5000

Position control to reverse direction

(Amount of movement -7000)
Target position Starting position

■ Related Motion Function Block

Name Description Operation
condition
MC_MoveRelative Relative positioning Edge
operation

MC_MoveRelative
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL Velocity CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk
UINT BufferMode

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8.2.2 Single-axis Velocity Control

Execution is made by motion function block(「Specified velocity operation (MC_MoveVelocity)」), and operation is performed
at the set velocity until stop condition is inputted.

(1) Features of control

(a) Speed control operation of the specified axis is executed using specified velocity and acceleration/deceleration. T
he velocity control is executed through a method to transmit the target position value that corresponds to the ta
rget velocity using position control of servo drive.
(b) In direction input, the direction to operate is specified.
(However, the forward direction is based on the operating direction specified with the target velocity (Velocity) in
put. For example, if a negative value is specified in target velocity (Velocity) value, and reverse direction in direc
tion (Direction) input, the axis is finally operated in forward direction.)
■ Setting value: 1-Forward, 2-Reverse, 3-Curent direction
(c) Negative number can be set for target velocity (Velocity) input value. In case the target velocity setting value is
negative number, operating direction becomes the opposite direction of the previously specified direction.
■ Forward operation
- Velocity > 0, Direction=1: Forward
- Velocity < 0, Direction=2: Reverse
■ Reverse operation
- Velocity > 0, Direction=2: Reverse
- Velocity < 0, Direction=1: Forward
(d) After reaching the target velocity, InVelocity output of the function block is On (On). If there is a pending comm
and, the pending command is executed after InVelocity output is On.
(e) The speed control which is currently being executed is stopped with halt (MC_Halt) or immediate stop (MC_Sto
p) motion function block.

(2) Related Motion Function Block

Name Description Operation
condition
MC_MoveVelocity Specified velocity Edge
operation

MC_MoveVelocity
BOOL Execute InVelocity BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
UINT Direction
UINT BufferMode

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(3) Operation timing

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 Chapter8 Motion Control function

8.2.3 Single-axis torque Control

If motion function block(「Torque control(MC_TorqueControl)」) is executed, torque control of the axis is made with the set
torque value.
(1) Features of control
(a) Torque control of the specified axis is made using target torque value and torque rising slope.
(b) Torque rising slope (TorqueRamp) is the rate of change in torque per second to the target torque, and time to
reach the target torque can be calculated as follows.
Time to reach the target torque(s) = target torque (Torque) / torque rising slope (TorqueRamp)
(c) Torque control mode is executed using torque control mode of servo drive.
(d) Target torque values are rounded to two decimals and reflected in [0.1%] unit.
(e) Specify the operation direction in Direction input.
(However, the forward direction is based on the operating direction specified with the Torque input. For example,
if a negative value is specified in Torque value, and reverse direction in direction (Direction) input, the axis is
finally operated in forward direction.)
■ Setting value: 1-Forward, 2-Reverse, 3-Curent direction
(f) Negative number can be set for Torque (target torque) input value. In case the target torque setting value is
negative number, operating direction becomes the opposite direction of the previously specified direction.
■ Forward operation
- Torque < 0, Direction=1:
- Torque > 0, Direction=2:
■ Reverse operation
- Torque > 0, Direction=2:
- Torque < 0, Direction=1:
(g) The setting range of the target torque value is as follows.
-1000.0 % ~ 1000 %
(h) After reaching the target torque, Intorque output of function block is On. In case there is a pending command,
the pending command is executed after InTorque output is On.
(i) Torque control which is currently being executed is stopped with halt (MC_Halt) or immediate stop (MC_Stop)
motion function block.

(2) Related Motion Function Block

Name Description Operation
condition
MC_TorqueControl Torque Control Edge

MC_TorqueControl
BOOL Execute InTorque BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Torque Active BOOL
LREAL TorqueRamp CommandAborted BOOL
LREAL Velocity Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT Direction
UINT BufferMode

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(3) Operation timing

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 Chapter8 Motion Control function

8.2.4 Specified Velocity Operation after Position Operation

Speed control of the axis specified after being executed by motion function block (「Specified speed operation after relative
position operation (MC_MoveContinuousRelative)」 and 「Specified speed operation after absolute position operation
(MC_MoveContinuousAbsolute)」) is carried out after the execution of position control that ends with end rate specified from
starting position (current stop position) to target position (position of point to move) at the rate specified in end velocity
(EndVelocity) if there are no pending commands.

(1) Features of control

(a) Position control that ends with end rate specified from staring position to target position is carried out.
(b) Position control is executed based on position (the origin position) specified in the homing.
(c) In case of 「Specified speed operation after the absolute position operation (MC_MoveContinuousAbsolute)」, the
direction to operate is specified in direction input. It is valid only if operation parameter「Infinite running repetition」setting
is ‘1: Enable’.
 Setting value: 0-Not specified, 1–Forward direction, 2–Shortest distance direction, 3–Reverse direction, 4–Current
direction
(d) The end rate is reached after the completion of position control operation to target position, InEndVelocity output
of function block is On. If there is a pending command, the pending command is executed after InEndVelocity
output is On.

(2) Related Motion Function Block

Operation
Name Description
condition
Specified velocity operation after
MC_ MoveContinuousAbsolute Edge
Absolute position operation
MC_MoveContinousAbsolute
BOOL Execute InEndVelocity BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Position Active BOOL
LREAL EndVelocity CommandAborted BOOL
LREAL Velocity Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT Direction
UINT BufferMode

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 Chapter8 Motion Control function

Operation
Name Description
condition
Specified velocity operation after
MC_ MoveContinuousRelative Edge
Relative position operation
MC_MoveContinousRelative
BOOL Execute InEndVelocity BOOL
UINT Axis Axis UINT
BOOL ContinousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL EndVelocity CommandAborted BOOL
LREAL Velocity Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

(3) Operation timing

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8.2.5 Switching Control

In motion control module, switching control means real-time control switch between position control / velocity control / torque
control.
In case the control mode that is currently being executed (position control, velocity control, torque control) are intended to
change to a different control mode immediately, BufferMode of commands is to be set to Aborting, and relevant motion function
block is to be executed.

(1) Position-Speed switching control

When specified speed operation (MC_MoveVelocity) is executed in the axis in absolute/relative position operation, the
position control is switched to velocity control. The velocity at the time of being changed to velocity control is operated
continuously from the velocity operated with the previous position control to the target velocity of the currentvelocity control.
The next operation can be continued by conducting halt (MC_Halt) during operation with velocity control, performing operation
stop with immediate stop (MC_Stop) motion function block or executing other motion function block.

(2) Speed-position switching control

When absolute/relative/additive position control (MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive) motion
function block is executed in the axis in specified speed operation during velocity control, the velocity control is switched to
position control. The velocity at the time of being changed to position control is operated continuously from the velocity operated
with the previous velocity control to the target velocity of the current position control. The next operation can be continued by
conducting halt (MC_Halt) during operation with position control, performing operation stop with immediate stop (MC_Stop)
motion function block or executing other motion function block.

(3) Position-torque switching control

When torque control (MC_TorqueControl) motion function block is executed in the axis in absolute/relative position operation
during position control, the position control is switched to torque control. The torque at the time of being changed to torque
control is operated continuously from the current torque value operated with the previous position control to the target torque
of the torque control. The next operation can be continued by conducting halt (MC_Halt) during operation with torque control,
performing operation stop with immediate stop (MC_Stop) motion function block or executing other motion function block.

(4) Torque-position switching control

When absolute/relative/additive position control (MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive) motion
function block is executed in the axis in specified torque control operation during torque control, the torque control is switched
to position control. When switching to position control, the torque value is reduced to 0 to continue operating position control
after stopping. The next operation can be continued by conducting halt (MC_Halt) during operation with position control,
performing operation stop with immediate stop (MC_Stop) motion function block or executing other motion function block.

(5) Velocity –torque switching control

When torque control (MC_TorqueControl) motion function block is executed in the axis in specified speed operation during
velocity control, the velocity control is switched to torque control. The torque at the time of being changed to torque control is
operated continuously from the current torque value operated with the previous velocity control to the target torque of the
torque control. The next operation can be continued by conducting halt (MC_Halt) during operation with torque control,
performing operation stop with immediate stop (MC_Stop) motion function block or executing other motion function block.

(6) Torque- velocity switching control

When the specified speed operation (MC_MoveVelocity) motion function block is executed while the axis in torque control
operation is performing torque control, torque control is converted to speed control. When switching to speed control, the
torque value is reduced to 0 to continue operating speed control after stopping. The next operation can be continued by

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conducting halt (MC_Halt) during operation with velocity control, performing operation stop with immediate stop (MC_Stop)
motion function block or executing other motion function block.

(7) Example of using switching control

Execute

First Done

CommandAborted

Test

Second
CommandAborted

Position control Speed control

3000
Velocity
2000

Position

0
Time

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8.2.6 Axis Group Control

Axis group control is a function to control the trajectory of moving objects by setting involved multiple axes into one axis group.
For axis group control, axis group is to be set.
Axis group operation includes linear interpolation, circular interpolation and helical interpolation.
As for coordinate system in which axis group control is operated, only Cartesian coordinate system is supported

(1) Axis group settings

For axis group control, axis group should be set and enabled prior to the execution of operation.
Configuration axis can be specified, and axis group is set using XG5000. In addition, the use of motion function block
makes it possible to add axes to axis group or remove them from it.
When axis group is configured, axis group operation can be executed after enabling the axis group.
All axis groups are in the Disabled state and the _AGxx_Disabled flag is set to On before the axis groups are activated
by the group enable command (MC_GroupEnable).
(a) Adds one axis to the group
It means adding an axis to the axis group. The configuration axis specified into IdentlnGroup is added to the axis group
specified in AxesGroup input. It can be executed only in case where the axis group is in group disablement
(GroupDisabled) and group standby (GroupStandBy) state.

Name Description Operation

condition
MC_AddAxisToGroup Adds one axis to the group Edge

MC_AddAxisToGroup
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT Axis Axis UINT
UINT IdentInGroup Busy BOOL
Error BOOL
ErrorID WORD

(b) Removes one axis from the group

It means removing an axis from the axis group. The configuration axis specified into IdentlnGroup is removed from the
axis group specified in AxesGroup input.
It can be executed only in case where the axis group is in group disablement (GroupDisabled) and group standby
(GroupStandBy) state.
If there are no axes remaining in the axis group by executing the ‘Exclude Group Axis’ command while the axis group
is active, the relevant axis group is changed to the disabled state, and the _AGxx_Disabled flag is set to On.

Name Description Operation

condition
MC_RemoveAxisToGroup Removes one axis from the group Edge

MC_RemoveAxisFromGroup
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT IdentInGroup Busy BOOL
Error BOOL
ErrorID WORD

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(c) Removes all axes from the group

It means removing all axes from the axis group.

Name Description Operation

condition
MC_UngroupAllAxes Removes all axes from the group Edge

MC_UngroupAllAxes
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

(d) Group Enable

It changes the status to enabled state in which axis group command can be executed.
The axis group cannot be enabled in the following cases.
- In case there is no axis group configuration axis, or axes included in the axis group is not connected to network
- In case the configuration axis of the axis group to be enabled belongs to other enabled axis group
- In case there is an axis in operation among configuration axes in the axis group
- In case the ‘unit’ of configuration axes in the axis group is not the same
-
Name Description Operation
condition
MC_GroupEnable Group Enable Edge

MC_GroupEnable
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

(e) Group Disable

It changes the axis group to be group disabled state.
In case the axis group is in operation, the axis group is changed to be disabled state after the immediate stop.

Name Description Operation

condition
MC_GroupDisable Group Disable Edge

MC_GroupDisable
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
Busy BOOL
Error BOOL
ErrorID WORD

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 Chapter8 Motion Control function

8.2.7 Linear Interpolation Control

Interpolation of multiple axes from staring point (current stop position) to target position is performed with linear trajectory by
using relevant axes set in the axis group. Linear interpolation can be performed up to 10 axes.

(1) Linear interpolation control with absolute coordinates ( 「 Absolute positioning linear interpolation

operation(MC_MoveLinearAbsolute)」)

(a) Executes linear interpolation from starting position to the target position designated on positioning data. Positionin
g control is carried out based on the position specified from homing.
(b) The direction of movement depends on the starting position and the target position for each axis.
▪ Starting position < Goal position: Positioning operation in forward direction
▪ Starting position > Goal position Positioning operation in reverse direction

Y Forward

Y2

Moving amount Starting positon(X1, Y1) Goal position

of Y axis (X2, Y2)

Y1
Action by linear interpolation

X Reverse X Forward
Moving amount
of X axis
Y Reverse X1 X2

(c) To stop the current interpolation control, use MC_GroupHalt or MC_GroupStop motion function block.
(d) The speed value set in absolute position liner interpolation operation (MC_MoveLinearAbsolute) motion function
block means synthesis rate of axes that make up the axis group.
The operation speed of each configuration axis is calculated as follows.

Interpolatinspeed (F ) = Operationspeedsetinpositiondata
2 2
Interpolatingmovingamount (S ) = S1 + S 2 + ... + S102

Main axismovingamount (S1)

Axis1speed (V1) = Interpolatingspeed (F ) ×
Interpolatingmovingamount (S )

Sub − axis1movingamount (S 2 )
Axis 2 speed (V 2 ) = Interpolatingspeed (F ) ×
Interpolatingmovingamount (S )

Sub − axis 2 movingamount (S10 )

Axis10 speed (V10 ) = Interpolatingspeed (F ) ×
Interpolatingmovingamount (S )

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 Chapter8 Motion Control function

(e) Relevant motion function block

Name Description Operation
condition
MC_MoveLinearAbsolute Absolute positioning linear Edge
interpolation operation
MC_MoveLinearAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL[ ] Position Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

(f) Restrictions
Linear interpolation by absolute coordinate system cannot be executed in the following cases.
• In case there is an axis which is in the origin indetermination state among configuration axes (error code: 0x2090)
• In case the operation speed of configuration axis exceeds the speed limit of each axis (error code: 0x2091)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x2094)

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(g) Operation Timing

- Start position:(1000.0, 4000.0)
- Target position:(10000.0, 1000.0)
- Target speed: 10000.0

※ Velocity of each configuration axis is approximate estimate.

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(2) Linear interpolation control with relative coordinates ( 「 Relative positioning interpolation operation

(MC_MoveLinearRelative)」)
(a) Linear interpolation is executed from starting position to movement direction targeted by each axis and position t
hat includes movement direction. Positioning control is on basis of the current stop position.
(b) Moving direction depends on the sign of the goal position (Moving amount)
▪ When the sign of movement distance is positive (+ or no sign): Positioning operation in forward direction (starting position
increase direction)
▪ When the sign of movement distance is negative ( - ):Positioning operation in reverse direction (starting position decrease
direction)

Y Forward

Y2

Moving amount Starting positon(X1, Y1) Goal position

of Y axis (X2, Y2)

Y1
Action by linear interpolation

X Reverse X Forward
Moving amount
of X axis
Y Reverse X1 X2

(c) To stop the current interpolation control, use MC_GroupHalt or MC_GroupStop motion function block.
(d) The speed value set in relative position liner interpolation operation (MC_MoveLinearRelative) motion function blo
ck means interpolation speed.
The operation speed of each configuration axis is calculated as follows.

𝐼𝐼𝐼𝐼𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝐹𝐹) = 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑖𝑖 𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉𝑉

𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚(𝑆𝑆) = �𝑆𝑆12 + 𝑆𝑆22 + 𝑆𝑆32 … . . + 𝑆𝑆102

Composition axis1 movement amout(S1)

Composition axis1 speed(V1) = 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝐹𝐹) 𝑥𝑥
𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎(𝑆𝑆)
Composition axis2 movement amout(S2)
Composition axis2 speed(V2) = 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝐹𝐹) 𝑥𝑥
𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎(𝑆𝑆)
Composition axis3 movement amout(S3)
Composition axis3 speed(V3) = 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝐹𝐹) 𝑥𝑥
𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎(𝑆𝑆)
:
Composition axis10 movement amout(S10)
Composition axis10 speed(V10) = 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝐹𝐹) 𝑥𝑥
𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎(𝑆𝑆)

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Relevant motion function block

Name Description Operation
condition
MC_MoveLinearRelative Relative positioning linear Edge
interpolation operation
MC_MoveLinearRelative
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL[ ] Distance Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

(e) Restrictions
Linear interpolation by relative coordinate system cannot be executed in the flowing cases.
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x2094)
• In case the operation speed of configuration axis exceeds the speed limit of each axis (error code: 0x2091)

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8.2.8 Circular Interpolation Control

Interpolation operation is performed along the trajectory of the circle in the direction of axis progress set by using two axes set
in the axis group.
There are three kinds of methods for circular interpolation such as midpoint method that passes through the position specified
in auxiliary point, center point method that considers the position specified in auxiliary point as center point and radius method
that takes the value specified in auxiliary point as the radius of an arc depending on ‘CircMode’ settings and auxiliary points.
To stop the current interpolation control use MC_GroupHalt or MC_GroupStop motion function block.

(1) Circular interpolation with middle point designation form.

(a) Circular interpolation is executed from starting position to target position through midpoint position set in auxiliary
point.
(b) To be made path of circular interpolation with start position, midpoint and a crossing which is perpendicular divi
de equally position of midpoint and target position.
(c) Movement direction is decided automatically depends on set target position and auxiliary point of circular interpol
ation.

(d) Restrictions
Circular interpolation control using mid-point specification method cannot be performed in case of the following errors.
• In case there is an axis which is in the origin undetermined state among configuration axes at the time of absolute
coordinate circular interpolation operation (error code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code:
0x20A4)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case the calculated radius of the arc exceeds 2147483647pls (error code: 0x20A6)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)
• In case the number of configuration axes in the axis group is four (error code: 0x20A9)
• In case axis group configuration settings are not set in order (error code: 0x20AA)

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(e) Operating Pattern

- Start position:(0.0, 0.0)
- Target position:(10000.0, 6000.0)
- Midpoint position:(2000.0, 6000.0)
- CircMode: Midpoint(0)
- Direction(PathChoice): - (Ignored in middle point method)

(2) Circular interpolation with center point designation form

(a) Circular interpolation is performed by starting at the start position, and reaching the target position in a circular t
rajectory of which the diameter is the distance to the designated center point.
(b) Movement direction is determined by the direction set in “PathChoice” of absolute position circular interpolation o
peration (MC_MoveCircularAbsolute) or relative position circular interpolation operation (MC_MoveCircularRelative)
motion function block.
▪ 0:「CW」 - perform circular interpolation in the clockwise direction from the start position.
▪ 1:「CCW」- perform circular interpolation in the counter-clockwise direction from the start position.

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(c) If target position is same with start position, can progress circular interpolation. And the circle radius is distance
from midpoint to starting position (=target position)

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(d) Restrictions
Circular interpolation control using center point specification method cannot be performed in case of the following errors.
• In case there is an axis which is in the origin undetermined state among configuration axes at the time of absolute
coordinate circular interpolation operation (error code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code:
0x20A4)
• In case the calculated radius of the arc exceeds 2147483647pls (error code: 0x20A6)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)
• In case the number of configuration axes in the axis group is four (error code: 0x20A9)
• In case axis group configuration settings are not set in order (error code: 0x20AA)
(e) Operating Pattern
- Start position:(0.0, 0.0)
- Target position:(0.0, 0.0)
- Auxiliary position:(1000.0, 1000.0)
- CircMode: Center Point(1)
- PathChoice: CW(0)

(3) Circular interpolation with radius designation form

(a) Circular interpolation is performed from starting position to target position along the trajectory of the arc that take
s the value set in circular interpolation auxiliary point. The arc that has center point depending on the sign of r
adius ((+): arc angle <180°, (-): arc angle>=180°) is drawn.

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CW, Arc<180° CW, Arc>=180° CCW, Arc<180° CCW, Arc>=180°

Sub-axis Sub-axis
Forward Forward
「CW, Arc>=180°」
Circular interpolation action

Arc < 180°

Arc >= 180° Center
Center 「CCW, Arc<180°」
point Circular interpolation action
point

Radius Radius
Goal position
Goal
position

Starting 「CW, Arc<180°」 Starting

position Circular interpolation position
action Arc>=180°

Radius Arc < 180° Radius Main-axis

Center point Main-axis Forward
Forward Center point
Origin Origin
중심점 「CCW, Arc>=180°」
Circular interpolation
action

(b) In circular interpolation of radius specification method, the target position cannot be set the same as starting po
sition.
(c) Movement direction and the size of the arc is determined by the sign of auxiliary point and directions (CW, CC
W) set in “PathChoice” of absolute position circular interpolation operation (MC_MoveCircularAbsolute) or relative po
sition interpolation operation (MC_MoveCircularRelative) motion function block
(d) Restrictions
Circular interpolation control by radius specification method cannot be performed in case of the following errors.
• In case there is an axis which is in the origin undetermined state among configuration axes at the time of absolute
coordinate circular interpolation operation (error code: 0x20A0)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case the calculated radius of the arc exceeds 2147483647pls (error code: 0x20A6)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)
• In case the number of configuration axes in the axis group is four (error code: 0x20A9)
• In case axis group configuration settings are not set in order (error code: 0x20AA)

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(e) Operating Pattern

- Start position:(1000.0, 1000.0)
- Target position:(9000.0, 1000.0)
- Auxiliary position:(5000.0, 0.0)
- CircMode: Center Point(2)
- PathChoice: CW(0)

Sub-axis 「CW, Arc<180°」

Forward Circular interpolation action

Starting position Goal position

1000 (9000,1000)
(1000,1000)
Main-axis Main-axis
Reverse 0 Forward
1000 5000 9000
-1000
Radius
=5000 Arc’s degree< 180°
-2000
Center

Sub-axis
Reverse

(4) Relevant motion function block

(a) Absolute position circular interpolation operation
Name Description Operation
condition
MC_MoveCircularAbsolute Absolute position circular Edge
interpolation operation

MC_MoveCircularAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

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(b) Relative position circular interpolation operation

Name Description Operation
condition
MC_MoveCircularRelative Relative position circular Edge
interpolation operation

MC_MoveCircularRelative
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
USINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

(5) Helical interpolation

(a) Three axes are used in the execution of circular interpolation commands (「Absolute positioning circular interpol
ation operation (MC_MoveCircularAbsolute)」, 「Relative positioning circular interpolation operation (MC_MoveCir
cularRelative)」). That is, two axes move the trajectory of the arc depending on circular interpolation settings, a
nd one axis performs linear interpolation in synchronization with circular interpolation motion.
(b) Linear axis is the third axis of the circular interpolation axis group.
(c) For the execution of helical interpolation, the axis group of circular interpolation command needs to be set to 3-
axis, and linear interpolation target position is to be set in the third axis of ‘EndPoint’.

Goal Position Helical interpolation

(x2, y2, z2)

Linear interpolation part

Center

Starting position
X (x1, y1, z1)
Circular interpolation part

(d) Restrictions
The restrictions of helical interpolation are the same as those of circular interpolation according to the set circular
interpolation modes.

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(e) Operating Pattern

- Start position:(650.0, 400.0, 0)
- Target position:(400.0, 1200.350)
- Center Point position:(400.0, 800.0, 0)
- CircMode: Center Point(1)
- PathChoice: CCW(1)

400

300

Goal position
(400, 1200,350)

100 400 800 1200

0 Y

Center point
(400, 800, 0) Linear interpolation part
400

600
700
Starting position Helical interpolation action
( 650, 400,0)
Circular interpolation part
X

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8.2.9 Axis Control Buffer mode

Cancellation of the existing axis motions and continued or continuous operation of them can be carried out by executing other
motion function block while the axis is in operation. The motions are specified by entering buffer mode (BufferMode) in motion
function block. The maximum number of commands that can wait for their execution in buffers on axis control is 100. An error
(error code: 0x1022) occurs when executing more than 100 command in a buffer mode.
When operating using buffer mode, the status of the command buffer can be checked using the following flags.
Variable Type Description
_AXxx_CMDBUF_FULL BOOL Axis xx Buffered full of command buffers
_AXxx_CMDBUF_QUEUED UINT Axis xx Buffered number of command
execution wait
_AXxx_CMDBUF_FREE UINT Axis xx Buffered number of executable
commands

The values which are available to be set in BufferMode are as below.

Buffer mode Description
Execute the command immediately. The existing command in operation is
Aborting
interrupted.
It executes commands after the completion of the existing command in
Buffered
operation.
It conducts a combination operation that helps blend into side with lower
BlendingLow velocity by comparing the velocity of the existing command and the
command to make.
It conducts a combination operation that makes the combination with velocity
BlendingPrevious
of the existing commands.
It conducts a combination operation that makes the combination with velocity
BlendingNext
of commands to make.
It conducts a combination operation that helps blend into side with priority
BlendingHigh velocity by comparing the velocity of the existing command and the
command to make.

(1) Buffer mode“Aborting”

It aborts the existing commands in execution immediately and executes the next command. CommandAborted output of
the existing motion function blocks is On.

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(2) Buffer mode“Buffered”

It execute the next command after the completion of the existing commands in execution (Done output is On).

(3) Buffer mode“BlendingLow”

It combines operation so that operation can be made at lower velocity in a comparison between the target velocity of the
existing commands in execution at the time of command completion and that of buffered command.

(4) Buffer mode“BlendingPrevious”

It executes the next command after acceleration/deceleration of the velocity to the target velocity of the next command
buffered after maintaining the velocity of commands in execution at the point of time when the exiting commands are
competed.

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(5) Buffer mode“BlendingNext”

It executes the next command after acceleration/deceleration so that operation can be performed at the target velocity of
the next command at the point of time when the existing commands in execution are completed.

(6) Buffer mode“BlendingHigh”

It combines operation so that operation can be made at higher velocity in a comparison between the target velocity of the
existing commands in execution at the time of command completion and that of buffered command.

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8.2.10 Axis Group Control Buffer Mode and Transition Mode

In axis group control as in speed control, motion commands can be executed continuously by using buffer mode, and the
maximum number of runs that can be queued in the buffer is 10. The maximum number of buffers that can wait for execution
on axis group control is 100. An error (error code: 0x2022) occurs when executing more than 100 command in a buffer mode.
In addition, operation is possible by inserting curve between the two linear trajectories using transition mode.
When operating using buffer mode, the status of the command buffer can be checked using the following flags.
Variable Type Description
_AGxx_CMDBUF_FULL BOOL Axis group xx Buffered full of command buffers
_AGxx_CMDBUF_QUEUED UINT Axis group xx Buffered number of command execution wait
_AGxx_CMDBUF_FREE UINT Axis group xx Buffered number of executable commands

(1) ‘BufferMode’
(a) Aborting
It aborts the motion that is currently running, and executes a new motion immediately.

(b) Buffered
It executes the next command after completing motion operation that is being currently executed.
‘TransitionMode’ is not reflected.

(c) Blending
There is no stop between the two operations since the current motion is mixed with the next motion. The velocity may
vary depending on blending modes (BlendingLow, BendingPrevious, BlendingNext, BlendingHigh).

※ Motions in case of the BlendingNext

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(2) ‘TransitionMode’
(a) TMNone
Motion trajectory is not changed, and curve is not inserted between the two operations.
In case buffer mode is Blending in this setting, Buffered mode is operated.
Motions according to the buffer mode are the same as the above Aborting and Buffered.

(b) TMCornerDistance
Ther curve can be inserted by specifying the distance of two motion block corners. The conversion velocity is specified
by the BufferMode.

※ Motions in case of the BlendingNext

※ d: Curve insertion distance at the corner
※ In the MC_MoveLinearAbsolute and MC_MoveLinearRelative commands, it operates only when the
number of axes in the axis group is two. In other cases, even if it is set to TMCornerDistance, it operates as
TMNone and no error occurs.

(c) TransitionMode Compare

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8.2.11 Synchronous Control

(1) Gear operation
(a) Gear operation makes speed synchronization of the master axis (or encoder) and the slave axis depending on the set
ratio.
(b) Gear operation can be aborted with gear operation cancellation command.
(c) Gear ratio (=velocity synchronization ratio) is calculated as follows.
Gear ratio = Master axis ratio/Slave
axis ratio
※ The master axis ratio < the slave ratio can also be set.
(d) Rotation direction of the slave axis is based on the forward direction of the master axis. In case gear ratio is positive (>0),
rotation is made in forward direction, and that is negative (< 0), in reverse direction.
(e) The final operating velocity of the slave axis is calculated as follows.
Operation speed of the slave axis= operation speed of the
master axis X Gear ratio
Operation speed of the master axis X main axis
ratio/subordinate axis ratio
(f) Acceleration/deceleration from the start of gear operation to target velocity can be set by using Acceleration and
Deceleration input.

(g) Relevant motion function block

Name Description Operation
condition
MC_GearIn Gear operation Edge

MC_GearIn
BOOL Execute InGear BOOL
UINT Master Master UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
INT RatioNumerator Active BOOL
UINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

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Name Description Operation

condition
LS_VarGearIn Variable Gearing run Edge

LS_VarGearIn
BOOL Execute InGear BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
INT RatioNumerator Active BOOL
UINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Name Description Operation

condition
MC_GearOut Gearing disengage Edge

MC_GearOut
BOOL Execute Done BOOL
UINT Slave Slave UINT
Busy BOOL
Error BOOL
ErrorID WORD

Name Description Operation

condition
MC_GearInEx Expansion gear Edge
operation
MC_GearInEx
BOOL Execute InGear BOOL
UINT Master Master UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
DINT RatioNumerator Active BOOL
UDINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

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Name Description Operation

condition
LS_VarGearInEx Expansion variable Edge
gear operation
LS_VarGearInEx
BOOL Execute InGear BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
BOOL ContinousUpdate Busy BOOL
DINT RatioNumerator Active BOOL
UDINT RatioDenominator CommandAborted BOOL
UINT MasterValueSource Error BOOL
LREAL Acceleration ErrorID WORD
LREAL Deceleration
LREAL Jerk
UINT BufferMode

(2) Positioning gear operation

(a) Positioning gear operation makes speed synchronization of the master axis (or encoder) and the slave axis depending
on the ratio set the same as in gear operation basically.
(b) The starting position in which the master axis and the slave axis are synchronized can be specified.
(c) Methods for operation are as follows.

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(d) Relevant motion function block

Name Description Operation
condition
MC_GearInPos Gearing by specifying Edge
the position

MC_GearInPos
BOOL Execute InSync BOOL
UDINT Master Master UINT
UINT Slave Slave UINT
INT RatioNumerator StartSync BOOL
UINT RatioDenominator Busy BOOL
UINT MasterValueSource Active BOOL
LREAL MasterSyncPosition CommandAborted BOOL
LREAL SlaveSyncPosition Error BOOL
UINT SyncMode ErrorID WORD
LREAL MasterStartDistance
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Name Description Operation

condition
LS_VarGearInPos Variable Gearing by Edge
specifying the position

LS_VarGearInPos
BOOL Execute InGear BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
INT RatioNumerator Busy BOOL
UINT RatioDenominator Active BOOL
UINT MasterValueSource CommandAborted BOOL
LREAL MasterSyncPosition Error BOOL
LREAL SlaveSyncPosition ErrorID WORD
UINT SyncMode
LREAL MasterStartDistance
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

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Name Description Operation

condition
MC_GearInPosEx Expansion position Edge
specified gear operation

MC_GearInPosEx
BOOL Execute InSync BOOL
UDINT Master Master UINT
UINT Slave Slave UINT
DINT RatioNumerator StartSync BOOL
UDINT RatioDenominator Busy BOOL
UINT MasterValueSource Active BOOL
LREAL MasterSyncPosition CommandAborted BOOL
LREAL SlaveSyncPosition Error BOOL
UINT SyncMode ErrorID WORD
LREAL MasterStartDistance
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

Name Description Operation

condition
LS_VarGearInPosEx Expansion position Edge
variable specified gear
operation

LS_VarGearInPosEx
BOOL Execute InSync BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
DINT RatioNumerator StartSync BOOL
UDINT RatioDenominator Busy BOOL
UINT MasterValueSource Active BOOL
LREAL MasterSyncPosition CommandAborted BOOL
LREAL SlaveSyncPosition Error BOOL
UINT SyncMode ErrorID WORD
LREAL MasterStartDistance
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode

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(3) Cam Operation

(a) CAM operation controls cams by converting mechanical cam motion to the cam data set at the cam profile and
synchronizing the data to the position of the motor designated as the main-axis.
(b) Mechanical cam operation in the past can be replaced with software cam motion using the cam data at the cam profiles.

CAM data
캠 데이터

서보
모터

(c) A total of 32 cam profiles can be generated, each of which can be applied to each axis regardless of their order.
(d) Each cam profile can consist of up to 32,768 cam data. (The number of cam data can be set variably for each cam profile,
and a total of 32,768 data can be set in 32 cam profiles.)
(e) To halt cam operation, MC_CamOut command should be issued on the sub-axis, or another motion function block should
be operated (in case of Aborting).
(f) Cam operation command’s secondary data
Item Content
Master Set main axis (1~36: axis, 1001~1002: encoder),

MasterOffset Set the offset value of the main axis.

SlaveOffset Set the offset value of the slave cam table.

MasterScaling Specify the magnification of the main axis.

SlaveScaling Specify the magnification of the slave axis cam table.

MasterStartDistance Specify the position of the main-axis where the cam operation of the master axis starts.

MasterSyncPosition Specify the starting point at cam table when cam operation starts.
Set the cam operation mode.
0: Cam table is applied as an absolute value. (mcAbsolute)
StartMode
1: Cam table is applied as a relative value based on the command start position.
(mcRelative)
Select the source of the main axis for cam operation.
MasterValueSource 0: Synchronizes to the command position of the main axis.
1: Synchronizes to the current position of the main axis.
CamTableID Specify the cam table to operate.

(ㄱ) Set the offset of the cam table to be applied in MasterOffset and SlaveOffset. MasterOffset determines the offset from the
master axis start point, and Slaveoffset determines the offset from the slave axis start point. Refer to the Figure below.

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Using offset may change the start position for cam operation, causing an abrupt operation. In such a case,
MasterSyncPosition, MasterStartDistance should be used.

Before After
applying applying
Serve axis
Position

Main, Serve axis Main axis

starting point Position
MasterOffset

After
applying
Serve axis
Position
Before
applying
SlaveOffset

Main, Serve axis Main axis

starting point Position

(ㄴ) Set the magnification of cam data to be applied in MasterScaling and SlaveScaling. MasterScaling determines the scale
rate of the main-axis data, and SlaveScaling determines the scale rate of the sub-axis data. Refer to the Figure below.

After applying
SlaveScaling = 2.0 SlaveScaling

SlaveScaling = 1.0
After applying
MasterScaling

MasterScaling = 1.0 MasterScaling = 2.0

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MasterSyncPosition specifies the position of the master axis within the table where the synchronization of actual cam
operation is completed, and MasterStartDistancespecifies the relative position of the master axis where the synchronization
starts. Synchronization starts at a position as far away as MasterStartDistance from MasterSyncPosition. If unable to start
synchronized operation at Cycle 1 as shown below (if the distance from the start position to the synchronized operation
start position is shorter than MasterStartDistance), synchronized operation starts at Cycle 2.

Synchronization Synchronized Operation

section section

Serve axis
Position

Cycle 1 Cycle 2 Cycle 3

SlaveOffset

Camming run MasterSyncPosition Main axis

Start Position Position
MasterOffset
MasterStartDistance

[When MasterScaling is 1.0]

Synchronization Synchronized Operation

section section

Serve axis
Position

SlaveOffset

Camming run Main axis

Start Position MasterOffset MasterStartDistance Position
MasterSyncPosition

[When MasterScaling is 2.0]

Actual synchronization position can vary depending on MasterScaling and SlaveScaling because
MasterSyncPosition is a value based on the inside of cam table, but MasterOffset and MasterStartDistance value
remain unaffected.

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(ㄷ) Once cam operation starts normally, InSync output is On, and EndOfProfile output is 1 scan On every time one cam table
operation is completed.

Main axis
Position

MasterSyncPosition

MasterStartDistance

Synchronization
section Synchronized operation section Time
Serve axis
Position

Time

InSync

EndOfProfile
1 Scan

(ㄹ) Cam operation mode is set in StartMode. The setting range is either 0 or 1. If the input value exceeds the setting range,
an error occurs. If it is set to 0, the cam table start position is set to the main-axis position of 0. If it is set to 1, the cam
table start position is set to the current position of the main-axis.
(ㅁ) MasterValueSource selects the source of the main axis to be synchronized. If set to 0, the serve axis performs cam
operations based on the command position of the main axis calculated in the motion controller, and if set to 1, the serve
axis performs cam operations based on the current position received via communication from the servo drive of the main
axis.
(ㅂ) CamTableID sets the number of cam table to be applied to cam operation. The setting range is from 1 to 32. If the input
value exceeds the setting range, an error "0x1115" occurs at the motion function block.

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(g) The items required when creating a cam profile are as follows.
Item Content

Main axis position

Set the CAM position of sub axis corresponding to main axis
CAM data Slave axis position

Set the characteristic curve between the cam data.

Interpolation type
(Linear, Cubic)

Start inclination If the interpolation type for the first or the last section is set to ‘Cubic’,
set the start inclination and the end inclination for the Cubic
End inclination operation.

[Cam Profile setting example]

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(h) Relevant motion function block

Name Description Operation
condition
MC_CamIn Cam Operation Edge

MC_CamIn
BOOL Execute InSync BOOL
UINT Master Master UINT
UINT Slave Slave UINT
LREAL ContinousUpdate Busy BOOL
LREAL MasterOffset Active BOOL
LREAL SlaveOffset CommandAborted BOOL
LREAL MasterScaling Error BOOL
LREAL SlaveScaling ErrorID WORD
LREAL MasterStartDistance EndOfProfile BOOL
LREAL MasterSyncPosition
UINT StartMode
UINT MasterValueSource
UINT CamTableID
UINT BufferMode

Name Description Operation

condition
LS_VarCamIn Variable CAM Edge
operation

LS_VarCamIn
BOOL Execute InSync BOOL
UDINT VarOffset VarOffset UINT
UINT Slave Slave UINT
LREAL ContinousUpdate Busy BOOL
LREAL MasterOffset Active BOOL
LREAL SlaveOffset CommandAborted BOOL
LREAL MasterScaling Error BOOL
LREAL SlaveScaling ErrorID WORD
LREAL MasterStartDistance EndOfProfile BOOL
LREAL MasterSyncPosition
UINT StartMode
UINT MasterValueSource
UINT CamTableID
UINT BufferMode

Name Description Operation

condition
MC_CamOut Cam operation Disable Edge
MC_CamOut
BOOL Execute Done BOOL
UINT Slave Slave UINT
Busy BOOL
Error BOOL
ErrorID WORD

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(4) Skip CAM

(a) This function skips the cam operation as many as the number of cam operation cycles that user wants in the axis where
cam operation is underway.
(b) When Cam Skip command is issued on a sub-axis where cam operation is underway, the current cam cycle ends, and
the skip operation starts. The sub-axis is in stand-by at the end position of the cam table in the cam skip motion.
(c) Cam skip command’s secondary data
Item Content
Slave Set the sub axis to execute cam skip. (1~36: axis)

SkipCount Set the number of cam cycles to skip.

(d) After the execution of cam motion by MC_CamIn command (FB1), if three cycles are skipped using LS_CamSkip
command (FB2), the output of each function block FB1 and FB2and the motion of the cam sub-axis are as displayed
as shown in the figure below

Cam period 3 times skip

Slave position

Master position

FB1 EndOfProfile

Execute

Active

Done
FB2

3
CoveredSkipCount 2
1

(e) If Cam Skip command is re-executed during cam skip motion, or cam skip motion is aborted by another Cam Skip
command, the SkimCount of the latter Cam Skip command applies, and a new cam skip motion starts from the beginning.
In such a case, the number of cycles skipped at the time of re-execution is included in the cycles skipped after the re-
execution. Therefore, the CoveredSkipCount value is 1 point larger than the SkipCount set by the user.
(f) Relevant motion function block
Name Description Operation
condition
LS_CamSkip Skip CAM Edge

LS_CamSkip
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT SkipCount Busy BOOL
USINT SkipMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
CoveredSkipCount UINT

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(5) Reverse Operation is Banned during Synchronized Operation

(a) In the state that synchronization control commands such as CAM and Gear are executed, this function stops
synchronization control of the slave axis when the master axis operates in the reverse direction of synchronized operation
referenced by the slave axis.
(b) After the master axis starts operation in the direction allowing synchronized operation again, when it passes by the position
that started operation in the reverse direction, the slave axis starts synchronization control again.
(c) The operation direction of the master axis, which is referenced upon synchronized operation, can be set in the expanded
setting of axis parameters.
Group Parameter Setting value
0: Synchronization with both
directions of the master axis
Extended Synchronization methods according to 1: Synchronization with the forward
parameter the operation direction of the master axis direction of the master axis
2: Synchronization with the reverse
direction of the master axis
(d) Operation according to parameter setting
(ㄱ) 0: Synchronization with both directions of the master axis
Perform the synchronization control operation according to synchronization commands executed on the slave axis by the
operation direction of the master axis. Synchronization control operation is not separately limited by the operation direction
of the master axis.
(ㄴ) 1: Synchronization with the forward direction of the master axis
If the master axis performs reverse operation when starting synchronization control. The slave axis stands still without starting
synchronization control. After the master axis changed its operation in the forward direction, when the position of the master
axis passes by the position that started synchronization control, the slave axis starts synchronization control operation.
If the master axis performs forward operation when starting synchronization control. The slave axis performs the
synchronization control operation according to synchronization commands executed on the slave axis by the operation
direction of the master axis. If the master axis changed its operation in the reverse direction, the slave axis stops
synchronization control. After the master axis changed its operation in the forward direction, when the position of the master
axis passes by the position that started operation in the reverse direction, the slave axis starts synchronization control again.
a) 2: Synchronization with the reverse direction of the master axis
a) If the master axis performs forward operation when starting synchronization control
The slave axis stands still without starting synchronization control. After the master axis changed its operation in the reverse
direction, when the position of the master axis passes by the position that started synchronization control, the slave axis
starts the synchronization control operation.
b) If the master axis performs reverse operation when starting synchronization control
The slave axis performs the synchronization control operation according to synchronization commands executed on the
slave axis by the operation direction of the master axis. If the master axis changed its operation in the forward direction, the
slave axis stops synchronization control. After the master axis changed its operation in the reverse direction again, when
the position of the master axis passes by the position that started operation in the reverse direction, the slave axis starts
synchronization control again.
(e) Confirm the direction of the master axis according to MasterValueSource
(ㄱ) 0: Synchronizes to the command position of the main axis.

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If the command position value increases, it is judged as the forward operation of the master axis. If the command position
value decreases, it is judged as the reverse operation of the master axis.
(ㄴ) 1: Synchronization with the forward direction of the master axis
If the current position value increases, it is judged as the forward operation of the master axis.
If the current position value decreases, it is judged as the reverse operation of the master axis.
※ If the master axis is an ‘encoder’ or a synchronization control command specifying variables, the operation according to the
MasterValueSource input value is identical as there is no separation between the current position and separate command
positions. In other words, if the encoder position or variable value increases irrespective of the MasterValueSource value,
it is judged as forward operation.

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(f) Operation Timing

(ㄱ) Operation according to parameter setting when operating the Gear with the gear ratio of 1:1

Position of the
master axis

Amount of forward
movement of the
master axis
Reference position of the
master axis when starting Amount of reverse
synchronized operation movement of the
master axis
Time
Position of the
slave axis

Synchronization with
both directions of the Time
master axis

Position of the
slave axis

Amount of
Synchronization forward movement of the
direction of the master slave axis
axis
Time
Position of the
slave axis

Time
Synchronization reverse
direction of the master Amount of
axis movement of the
slave axis

MC_GearIn
(Gear ratio 1:1)

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(g) Applying synchronization control commands

(ㄱ) CAM Operation
MC_CamIn, LS_VarCamIn, LS_OnOffCam
(ㄴ) Gear operation
MC_GearIn, LS_VarGearIn, MC_GearInPos, LS_VarGearInPos
(h) The version information that can use the function where reverse operation is banned during synchronized operation is as
follows:

Item
Module O/S XG5000
Product name

XMC-E32A
XMC-E16A
V1.40 V4.28
XMC-E08A
XMC-E32C

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8.2.12 Manual Control

(1) JOG Operation
(a) Jog operation makes positioning control by manual jog commands of users.
(b) Jog operation is possible even in the state in which the origin of the axis is not determined.
(c) Jog commands are executed even in the origin determined or undetermined status, which makes it possible to monitor
changes in position values of the axis.
(d) Acceleration/Deceleration process and Jog speed
For processing acceleration and deceleration, acceleration and deceleration control is made based on the value set in
Jog Acceleration/Deceleration/Jerk among [Operation parameter – expansion parameter] setting items.
Jog speed is set in Jog high-speed and Jog low-speed among [Operation parameter – expansion parameter] setting
items.
Jog high-speed should be set to at the speed limit or less or at least Jog low-speed among [Operation parameter –
basic parameter] setting items.
(e) Related parameter setting
Item Setting range Initial value
JOG high speed 100000 pls/s
Long real (LREAL) positive number
Jog low speed 10000 pls/s
JOG
100000 pls/s2
Acceleration
0 or Long real(LREAL) Positive
JOG
number 100000 deg/s2
Deceleration
JOG Jerk 0 deg/s3
(f) Relevant motion function block
Name Description Operation
condition
LS_Jog JOG Operation level
LS_Jog
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
BOOL Direction Busy BOOL
BOOL Low/High Error BOOL
ErrorID WORD

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(g) Operation Timing

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8.2.13 SuperImposed operation

SuperImposed operation executes the positioning control additionally as much as the moving distance designated in the
current motion operation.

(1) Features of control

(a) When SuperImposed operation command is executed, the axis moves from the point at the time of command e
xecution to the target distance specified in the Distance input.
(b) The direction of the movement is determined by the positivity/negativity of the set distance. Positive distance (+ o
r no sign) means forward movement, and negative distance (-) means reverse movement.
(c) The existing motion is not canceled, but its operation overlaps with SuperImposed operation.
(d) Even when the existing motion is completed, SuperImposed operation continues unless the amount of movement
does not reach the one specified in the SuperImposedoperation.
(e) If the axis is not in operation, but in "StandStill" status, SuperImposed operation works the same way as MC_M
oveRelative operation.
(f) The current SuperImposed operation can be halted with the MC_HaltSuperImposed command. After executing the
command, SuperImposed operation decelerates and stops at the given acceleration and jerk. The existing motio
n which is currently being executed is not affected.

(2) Relevant motion function block

Name Description Operation condition
MC_MoveSuperImposed SuperImposed Operation Edge
MC_MoveSuperImposed
BOOL Execute Done BOOL
UINT Axis Axis UINT
BOOL ContinuousUpdate Busy BOOL
LREAL Distance Active BOOL
LREAL VelocityDiff CommandAborted BOOL
LREAL Acceleration Error BOOL
LREAL Deceleration ErrorID WORD
LREAL Jerk CoveredDistance LREAL

Name Description Operation

condition
MC_HaltSuperImposed SuperImposed operation Edge
halt

MC_HaltSuperImposed
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Deceleration Busy BOOL
LREAL Jerk Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

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(3) Restrictions
In the following cases, SuperImposed operation cannot be performed due to errors.
(a) SuperImposed command is executed during velocity control or torque control operation (Error Code: 0x1082)
(b) MC_HaltSuperImposed command is executed when SuperImposed operation is not being performed (Error Code:
0x1083)
(4) Operation Timing
FB_Sup1
Go_Sup MC_MoveSuperimposed
Execute Done
··· Axis Axis
FB_Move1
··· ContinuousUpdate Busy
Go_Rel MC_MoveRelative 1000 Distance Active
Execute Done 100 VelocityDiff CommandAborted
··· Axis Axis 50 Acceleration Error
··· ContinuousUpdate Busy 50 Deceleration ErrorID
5000 Distance Active 1000 Jerk CoveredDistance
300 Velocity CommandAborted
100 Acceleration Error
100 Deceleration ErrorID
1000 Jerk
··· BufferMode

FB_Move1

Go_Rel

Time
Done

FB_Sup1 Time

Go_Sup

Time
Done

Time
Motion operation
VelocityDiff
Velocity 400
300
Distance
0
Time
Position 7000

5000

0
Time

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8.2.14 Phase compensation control

Phase correction control performs phase correction for the main-axis of the axes during synchronization control operation. It
performs a virtual movement of the position of the main-axis which the sub-axis refers to in synchronization control operation,
and the sub-axis performs synchronized operation to the moved main-axis position.

(1) Features of control

(a) Phase correction order can be executed with respect to the axes where synchronized operation is underway as
in gear operation or cam operation.
(b) Phase correction does not change the actual command position or current position of the main-axis, and phase
correction is performed on the main-axis position referred to by sub-axis in synchronous control operation. In oth
er words, the main-axis does not know that phase correction is executed by the sub-axis. Phase correction velo
city is relative to the velocity of the current main-axis operation.
(c) If the main-axis is encoder, when phase correction control is executed, the operation uses the velocity limit of th
e sub-axis.
(d) The main axis position referenced by the subordinate axis during synchronous operation is “actual main axis posi
tion + phase compensation control position”.
(e) If the command is re-executed during the phase correction operation, phase correction is performed again from t
he current position. In other words, PhaseShift is operated in a relative value.
(f) If re-executing phase correction by setting PhaseShiftto 0 during the phase correction operation, the existing phas
e correction operation stops immediately.

(2) Relevant motion function block

Name Description Operation
condition
MC_Phasing Phase compensation Edge
MC_Phasing
BOOL Execute Done BOOL
UINT Master Master UINT
UINT Slave Slave UINT
LREAL PhaseShift Busy BOOL
LREAL Velocity Active BOOL
LREAL Acceleration CommandAborted BOOL
LREAL Deceleration Error BOOL
LREAL Jerk ErrorID WORD
CoveredPhaseShift LREAL

(3) Restrictions
Phase compensation control can not be executed in the case below.
(a) Sub-axis is not performing synchronization control operation (Error Code: 0x1130)
(b) The designated main-axis is the main-axis of the actual synchronized operation (Error Code: 0x1131)
(c) PhaseShift is outside the pulse unit position expression range (INT) (Error Code: 0x1132)
(d) Velocity setting is less than0, or exceeds the velocity limit for the main-axis (Error Code: 0x1133)
(e) Acceleration setting is less than 0 (Error Code: 0x1014)
(f) Deceleration setting is less than 0 (Error Code: 0x1015)
(g) Jerk setting is less than 0 (Error Code: 0x1016)

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(4) Operation Timing

Phase corretion
Master axis amount
Master ax is ref erenced from the slave axis
position

Master axis Real master axis position Time

velocity Phase corretion
velocity
Target velocity

Slave axis Cam operation reflected from the

Time
phase correction
position

Cam operation while phase

correction is not executing
Time
Master axis
exectute
command
Slave a xis
Cam operation
command
Slave a xis is
running

MC_Phasing.Ex ecute

MC_Phasing.Active

MC_Phasing.Done

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8.2.15 Cross-coupled Control

This is a function that provides stable control when synchronously controlling two physically coupled/connected axes such as
Automated Guided Vehicles and Gantry Stages.

(1) Cross-coupled control

In the case of synchronous control of two physically coupled/connected axes, the motor output for controlling one of them may
affect the other, resulting in poor control performance. In this case, if cross-coupeld control is applied, the position error
occurring in each axis is shared with each other, so that the position error occurring in the other axis does not act as a factor
that interferes with control.
Since the cross-coupled control uses a modified position control loop, it is designed to operate only when the master position
loop control is executed.

(2) Master position control loop

In the conventional operation of the motion controller, the drive operates in CSP mode, and the entire servo control loop is
executed in the drive by passing the position command input through the direct start command from the motion controller to
the drive.
When master position loop control is executed, the drive operates in CSV mode, and the positioning module generates a
speed command by comparing the position command input through the direct start command from the motion controller with
the current position fed back from the drive. This speed command is transmitted to the drive operating in CSV mode to execute
the control servo loop. The position control part of the entire servo control loop is performed by the motion controller.

(3) Operation principles

(a) Existing control system
Conventionally, the position command generated by the motion profile generator of the motion controller is transmitted to the
servo drive through network communication. When a position command is transmitted to the servo drive, the entire servo loop
for motor control is operated within the servo drive.

Motion Position Network Position Speed Torque Current

command communication command Position command Speed command Torque command
profile Motor
controller controller controller Current
generator sensing
Speed
feedback Different
Position Encoder
iator
feedback

Motion controller Servo drive

(b) Master position control loop

If the master position control loop is used, the position command generated by the motion profile generator is not directly
transmitted to the servo drive, but is input to the position controller inside the positioning module. When the position feedback
transmitted through network communication is input to the position controller, the difference (error) between the position
command and the position feedback is PI (proportional integral) controlled to generate a speed command. The generated
speed command is transmitted to the servo drive through network communication. When a speed command is transmitted to
the servo drive, the remaining servo loop for motor control is operated within the servo drive. The position control loop is
executed in the motion controller and the servo drive operates in CSV mode. The motor connected to the relevant axis can
be operated with the general start command. The position controller is a PI controller. Control gain tuning of position controller
is required. During control gain tuning (change), there is no need to cancel the master position control loop command, but
change the gain or change the gain and turn on the contact while the master position control loop is running.

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Network
Motion Position Speed Speed Torque Current
communicati
command Position commnad command Speed command Torque command
profile on Motor
controller command controller Current
generator sensing

Speed
feedback Different
Position Position Encoder
iator
feedback feedback

Motion controller Servo drive

(c) Cross-coupled control

Cross-coupled control can be executed when the two connected axes each have the master position control loop activated.
A simplified block diagram of cross-coupled control is shown below to make it easier to understand. Cross-coupled control is
performed with position error 1 and position error 2 generated in servo system 1 and servo system 2. Cross-coupled controller
is a proportional controller, and the difference between position error 1 and position error 2 is used as input. Controller
proportional gain tuning is required. A speed command with a cross-coupled control command added to the speed command
generated by the position controller is transmitted to the servo drive. When servo control is executed on one servo drive, the
position error information of the partner motor is reflected through the cross-coupled control, so that the output for controlling
the partner motor does not act as a disturbance when controlling the main motor.

Speed Speed
Motion Position Position command Mot Position
command error1 P-I 1
command
feedback1
profile 1' Servo drive1 or
controller1
generator

CrossCoupled
controller

Speed
Speed
command Mot Position
P-I 2 command2
feedback2
' Servo drive2 or
Position controller2
error 2

Motion controller

(4) Relevant motion function block

Name Description Operation
condition
LS_MasterPLoopControlOn Master position loop control Edge

LS_MasterPLoopControlOn
BOOL Execute InControl BOOL
UINT Axis Axis UINT
LREAL P_Gain Busy BOOL
LREAL I_Gain Active BOOL
LREAL VelFF_Gain CommandAborted BOOL
LREAL CtrlLimit Error BOOL
ErrorID WORD

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Name Description Operation

condition
Master position loop control
LS_MasterPLoopControlOff Edge
disable
LS_MasterPLoopControlOff
BOOL Execute Done BOOL
UINT Axis Axis UINT
Busy BOOL
Error BOOL
ErrorID WORD

Name Description Operation

condition
LS_CrossCoupledControlOn Cross-coupled control Edge
LS_CrossCoupledControlOn
BOOL Execute InControl BOOL
UINT Axis Axis UINT
UINT PairAxis PairAxis UINT
LREAL P_Gain Busy BOOL
BOOL SlaveMode Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD

Name Description Operation

condition
Cross-coupled control
LS_ CrossCoupledControlOff Edge
disable

LS_CrossCoupledControlOff
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT PairAxis PairAxis UINT
Busy BOOL
Error BOOL
ErrorID WORD

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(5) Restrictions
In the following cases, an error occurs and master position loop control/cross-coupled control cannot be executed.
(a) When executing or releasing master position loop control while the axis is in operation (Error code: 0x1230)
(b) When the driver to execute master position loop control does not support CSV operation mode (Error code: 0x1
160)
(c) If there is no target speed (0x60FF) object in RxPDO of the axis to execute master position loop control (Error
code: 0x1161)
(d) When the P gain input value of the master position loop control function block is negative (error code: 0x1231)
(e) When the I gain input value of the master position loop control function block is negative (error code: 0x1232)
(f) When the control output limit value of the master position loop control function block is negative (error code: 0x1
233)
(g) When executing or releaseing Cross-coupled control while the axis is in operation (Error code: 0x1234)
(h) When the same axis is set in Axis and PairAxis of Cross-coupled control function block (Error code: 0x1235)
(i) In case master position loop control is not being executed for Axis and PairAxis set in Cross-coupled control func
tion block (Error code: 0x1236)
(j) When the P gain input value of cross-coupled control function block is negative (error code: 0x1237)
(k) When a command is executed on an axis for which cross-coupled control is not being executed (Error code: 0x
1238)
(l) When homing start is executed during master position loop control (Error code: 0x10B8)

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8.3 Other Functions

8.3.1 Modification Function of Control

(1) Changes in input variables of motion function block in execution
(a) In case there is no ContinuousUpdate input in motion function block, or execution (Execute input enabled) is made
when ContinuousUpdate input is Off, the motion function block is operated with the input at the time when Execute input
is On(rising Edge) applied. To operate by changing the input of the motion function block during operation, get the Execute
input to be On after changing input value, and the changed value is immediately applied for operation.

[Example] Input variable update of motion control command by re-execution of Execute

MC_MoveRelative
E Execute Done D
Ax1 Axis Axis
C ContinuousUpdate Busy
S Distance Active
V Velocity CommandAborted
··· Acceleration Error
··· Deceleration ErrorID
··· Jerk
··· BufferMode

Speed

200

100
Distance S = 2000
50

Time

Execute E

ContinuousUpdate C

Veloticy V
(Command 100 200 50
speed)

Done D

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(b) In case ContinuousUpdate input is On in Edge operation motion function block, the input at the time when Execute input
is On (rising Edge) is applied to the motion function block if Execute input is On, That is the motion function block makes
a motion to reflect the change if the input is changed while ContinuousUpdate input is On. However, changes in input are
no longer reflected after the operation of the motion function block is completed or stopped (Busy output disabled).

[Example]Input variable update of the motion control command when ContinuousUpdate is On

MC_MoveRelative
E Execute Done D
Ax1 Axis Axis
C ContinuousUpdate Busy
S Distance Active
V Velocity CommandAborted
··· Acceleration Error
··· Deceleration ErrorID
··· Jerk
··· BufferMode

Speed

200

100
Distance S = 2000
50

Time

Execute E

ContinuousUpdate C

Veloticy V
(Command 100 200 50
speed)

Done D

(c) In case of the level operation motion function block, input variables at the time when Enable input is On (rising Edge) are
applied to operate, and input variables can be changed continuously while Enable input is On.

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(2) Position override

(a) It is a function to override the target position of the axis in position operation. Override function is enabled by suing
ContinuousUpdate input of the position operation motion function block. When the position operation motion function block
is being executed, the position operation to reflect changed objectives is performed by tuning Execute input On again by
changing the target position after turning ContinuousUpdate input of the motion function block On.
(b) In case the target position changed at the point in time when changes in the target position are reflected is greater than
the position in case of the velocity being reduced to stop from the current velocity, positioning is made in the direction of
the current movement. On the contrary, in case the changed position is smaller than the position in case of the velocity
being reduced to stop from the current velocity, positioning is made in the direction of the target position by operating to
the opposite direction after deceleration stop.

[Example] Position override using ContinuousUpdate

MC_MoveAbsolute

E Execute Done D
Ax1 Axis Axis

C ContinuousUpdate Busy
S Position Active
V Velocity CommandAborted
··· Acceleration Error
··· Deceleration ErrorID

··· Jerk
··· Direction
··· BufferMode

Speed
Veloticy V
(Command
speed)

Time
Position Changed target
position
1500

Initial target
position
1000

Time

Execute E

ContinuousUpdate C
Position S
(Target 1000 1500
position)

Done D

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(3) Velocity, Acceleration/Deceleration, Jerk override

(a) It is a function to conduct velocity, acceleration/deceleration and jerk override of the specified axis
(b) It can override velocity, acceleration/deceleration, jerk to absolute value using ContinuousUpdate input of the motion
function block in operation. When the operation motion function block is being executed, the operation to reflect changed
velocity and acceleration is performed by tuning Execute input On again by changing the velocity and acceleration after
turning ContinuousUpdate input of the motion function block On.
(c) For the execution of speed override operation at the rate on the current command speed, not an absolute value override
(MC_SetOverride) motion function block is used for the override.
- In case the value is 1.0, the current operating speed, acceleration/deceleration, jerk is the same as before.
- In case VelFactor value specified is 0.0, the axis comes to a stop, but it cannot be changed to ‘StandStil’ state.
- If AccFactor value is 0.0, the changed velocity value is immediately applied without acceleration/deceleration.
- If JerkFactor value is 0.0, the acceleration/deceleration rate is immediately applied, and therefore the command velocity
linearly accelerates/decelerates.
- The meaning of Factor value specified of override (MC_SetOverride) motion function block differs depending on the
override item value of common parameters.
0: percentage specified – Factor value operates at the rate on the current command speed
1: unit value specified – Factor value is an absolute unit specified value of the set item

(d) Relevant motion function block

Name Description Operation
condition
MC_SetOverride Speed override level
MC_SetOverride
BOOL Enable Enabled BOOL
UINT Axis Axis UINT
LREAL VelFactor Busy BOOL
LREAL AccFactor Error BOOL
LREAL JerkFactor ErrorID WORD

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[Example] Changes in velocity using override (MC_SetOverride) motion function block

MC_MoveVelocity MC_SetOverride
E Execute InVelocity En Enable Enabled
Ax1 Axis Axis Ax1 Axis Axis
C ContinuousUpdate Busy F VelFactor Busy
V Velocity Active ··· AccFactor Error
··· Acceleration CommandAborted ··· JerkFactor ErrorID

··· Deceleration Error

··· Jerk ErrorID
··· Direction
··· BufferMode

Speed

200

Velocity
V =100
50

Time

Execute E

ContinuousUpdate C

Enable En

VelFactor F 1.0 2.0 0.5

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(4) Present Position Change

(a) It is a function to change the current position of the axis to the value specified by users.
(b) Specify the position in Position input. In case Relative input is Off state when command is executed, the position of the
axis is replaced with the Position input value, and in case Relative input is On state, Position input value is added to the
current position of the axis.
- 0: Absolute coordinate position
- 1: Relative coordinate position
(c) Set point can be specified with ExcutionMode input. When the input value is 0, the set value is set immediately after the
execution of commands, and in case it is 1, it is set in the same time with ‘Buffered’ in a sequential operation setting.
- 0: Position value applied immediately
- 1: Applied at the same point with ‘Buffered’ of Buffermode
(d) Relevant motion function block
Name Description Operation
condition
MC_SetPosition Present position Edge
change
MC_SetPosition
BOOL Execute Done BOOL
UINT Axis Axis UINT
LREAL Position Busy BOOL
BOOL Relative Error BOOL
UINT ExcutionMode ErrorID WORD

(5) Encoder preset

(a) It is a function to change the current encoder position value to any position value specified by users.
(b) In Encoder input, encoder to be changed is specified.
- 1: Encoder 1
- 2: Encoder 2
(c) In Position input, the encoder position is specified. In case Relative input is Off state when command is executed, the
encoder position of the axis is replaced with the Position input value, and in case Relative input is On state, Position
input value is added to the current position of the encoder.
- 0: Absolute coordinate position
- 1: Relative coordinate position
(d) Relevant motion function block
Name Description Operation
condition
LS_EncoderPreset Setting encoder Edge
current position

LS_EncoerPreset
BOOL Execute Done BOOL
UINT Encoder Busy BOOL
LREAL Position Error BOOL
BOOL Relative ErrorID WORD

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(6) Infinite running

(a) Infinite running repetition function is to perform periodic updates on the display values of the command position and current
position automatically with values set in ‘infinite running repetition position’ among expansion parameters of operating
parameters. The use of infinite running repetition positioning function makes it possible to determine the position with
repeated position value on the same direction.

(b) The instant ‘infinite running repetition’ parameter among expansion parameters of operating parameters is set to Allow, the
current position is automatically changed to value within the infinite running repletion position in case it is the value other
than the range of infinite running repletion position.
[Example 1] In case the current position is -32100, and infinite running repetition position 10000
When infinite running repetition “1: Allow” is set, the current position becomes 7900.
[Example 2] In case the current position is 15000, and infinite running repetition position 10000
When infinite running repetition “1: Allow” is set, the current position becomes 5000.

(c) Infinite running repetition setting of driving axis can be made by using software package or axis parameter change function.
(d) Related parameter setting
Initial
Item Content Setting range
value
Set repeated position range value in case of
Infinite running repeat Long real (LREAL) positive
being used as infinite running repetition 360 pls
position number
mode
Set whether to allow infinite running repetition 0: disable
Infinite running repeat 0: disable
operation function. 1:Enable

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8.3.2 Auxiliary Function of Control

(1) hardware Upper/Lower Limits
(a) It is used to make a sudden stop of servo drive before reaching lower limit/upper limit of the machine side by installing
high/low limit switch in the inside of the high/low limit, the physical operating range of the machine side. In this case, the
range is out of the upper limit, error ‘0x1200’ occurs, and lower limit, error ‘0x1201’.
(b) Input of hardware high/low limit switch is connected to each servo drive, and operation is stopped by servo drive at the
time of high/low limit detection, and module immediately terminates the motion which is currently being operated.
(c) In case of the stop due to the detection of hardware high/low limit signals, it is required to move inside the controllable
range of motion control module with jog operation of the opposite direction of the detected signals.
(d) Hardware high/low limit motions are as follows.

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(2) Soft Upper/Lower Limits

(a) Software stroke high/low limit is a function that does not perform the operation in out of the range of soft high/low limit set
by users.
(b) Software stroke high/low limit of each driving axis can be set by using software package or axis parameter change function.
(c) If the axis is outside the range of stroke, axis error occurs.
(d) When the axis is positioned outside the range of stroke, operation of the axis is impossible except for jog. Operation can
be resumed by moving it inside the range of stroke through jog operation or resetting the current position to the inside the
stroke range.

(e) Software high/low limit are don’t detect in the following cases.
• If the soft upper limit and lower limit values are set as the maximum and minimum values based on a pulse position
a) If ‘Position Control Range Expansion’ = ‘0: Disable’
- Soft upper limit: 2147483647, Soft lower limit: -2147483648
b) If ‘Position Control Range Expansion’ = ‘1: Enable’
- Soft upper limit: 140737488355327, Soft lower limit: -140737488355328
If ‘Position Control Range Expansion’ is set to ‘1: Enabled’ and soft upper/lower limits are 2147483647 and -
2147483648, the existing initial values, soft upper/lower limits are checked by these values.
• If the soft upper and lower limits are set to the same value (soft upper limit = soft lower limit)
• In case of the operation with speed control when expansion parameter “S/W limits during speed control” is set to ” 0: Don’t
detect”.

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•
(f) Related parameter setting
Item Content Setting range Initial value
S/W upper
2147483647 pls
limit Set the range of software limit function Long real(LREAL)
S/W low limit -2147483648 pls

(3) Position following error

(a) It is a function to output an error when driving axis is in position operation, or the actual position read from the axis is further
beyond tracking tolerance than the target position of the position operation instruction profile.
(b) Position tracking tolerance of each driving axis can be set by using software package or axis parameter change function

(c) Whether to set abnormality to a warning or an alarm in case of the occurrence of tracking error can be set in Tracking Error
Level of expansion parameter.
The operations according to the set values are as follows.
- ‘0: warning’
When an error occurs in tracking error, the 「Over deviation warning (_AXxx_DEV_WARN)」flag is On, and
warning error of tracking error (error code: 0x101D)) occurs. The axis continues to operate without stopping.
- ‘1: alarm’
When an error occurs in tracking error, the 「Over deviation alarm (_AXxx_DEV_ERR)」flag is On, and the
alarm error of tracking error (error code: 0x101C) occurs. The axis makes a sudden stop at 「Sudden stop
deceleration」.
(d) In the following situations, the error in tracking error is not examined.
 In case the「Tracking error over-range value」is 0
 In case of the operation in homing or torque control
(e) Related parameter setting
Initial
Item Content Setting range
value
Tracking error over- Set the value to detect more than position 0 or Long real (LREAL)
0
range value deviation. positive number
0: warning 0:
Tracking error level Set the error level more than deviation.
1: alarm warning

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(4) Latch (Touch Probe)

(a) It is a function to record the position of the axis when specific situation (Trigger event) occurs in the axis.
(b) Touch probe 1 and 2 can be selected to use according to trigger input (TriggerInput) settings.
- Trigger input (TriggerInput)=0: Latch function is performed when touch probe 1 signal is Off->On .
- Trigger input (TriggerInput)=1: Latch function is performed when touch probe 2 signal is Off->On .
- Trigger input (TriggerInput)=2: Latch function is performed when touch probe 1 signal is On->Off .
- Trigger input (TriggerInput)=3: Latch function is performed when touch probe 2 signal is On->Off .
- Trigger input (TriggerInput)=4: Latch function is performed when encoder index signal is Off->On .
- Trigger input (TriggerInput)=5: Latch function is performed when encoder index signal is Off->On .
(Items 0 to 1 can use functions in all touch probe commands [MC_TouchProbe, MC_TouchProbeEx], and items 2 to 5
can use functions in extended touch probes [MC_TouchProbeEx].)
(c) Depending on the trigger mode setting, you can set whether to record the trigger signal only once or every time a signal is
generated continuously.
- Trigger Mode = 0: When the signal set in the trigger input occurs, the latch function is executed once.
- Trigger Mode = 1 : Every time the signal set in the trigger input occurs, the latch function is executed If the trigger mode
is set to continuous trigger (1), the latch can be stopped with the MC_AbortTrigger command.
(Function is available in Extended Touch Probe [MC_TouchProbeEx].)
(d) Specify the area where the latch (touch probe) function operates.
- If you specify the allowable area, it operates only within the designated area.
- In the case of infinite length repeat operation (rotary axis), the relationship of the latch (touch probe) operation area
according to the start and end positions of the allowable area is as follows.

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(e) To use the latch (touch probe) function, the following objects must be included in the PDO setting of the slave parameter.
Trigger input RxPDO TxPDO
0x60B9:0 Touch probe Status
Touch probe 1
0x60B8:0 Touch probe function 0x60BA:0 touch probe 1 forward direction
rising edge
position values
0x60B9:0 Touch probe Status
Touch probe 2
0x60B8:0 Touch probe function 0x60BC:0 touch probe 2 forward direction
rising edge
position values
0x60B9:0 Touch probe Status
Touch probe 1
0x60B8:0 Touch probe function 0x60BB:0 touch probe 1 reverse direction
falling edge
position values
0x60B9:0 Touch probe Status
Touch probe 2
0x60B8:0 Touch probe function 0x60BD:0 touch probe 2 reverse direction
falling edge
position values
0x60B9:0 Touch probe Status
Touch probe 1
0x60B8:0 Touch probe function 0x60BA:0 touch probe 1 forward direction
index pulse
position values
0x60B9:0 Touch probe Status
Touch probe 2
0x60B8:0 Touch probe function 0x60BC:0 touch probe 2 forward direction
index pulse
position values
In case there are not above objects, an error (error code: 0x10E0) occurs when latch (touch probe) command is used.
(f) Operation Timing

< When TriggerInput is set to touch probe rising edge (0 to 1) or encoder index pulse (4 to 5)>

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Trigger
Occur Event
Trigger 발생
Event

End point of
허용영역 끝위치
Permissible range
E t

Starting
허용영역 point 시작위치 of
Permissible range
E t

Don’t기록되지
위치 record position
않음 Record
위치 기록됨position 시간 Time

< When TriggerInput is set to touch probe falling edge (2~3)>

(g) Relevant motion function block

Name Description Operation
condition
MC_TouchProbe Touch probe Edge

MC_TouchProbe
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT TriggerInput TriggerInput UINT
BOOL WindowOnly Busy BOOL
LREAL FirstPosition CommandAborted BOOL
LREAL LastPosition Error BOOL
ErrorID WORD
RecordedPosition LREAL

Name Description Operation

condition
MC_TouchProbeEx Expansion Touch Edge
Probe

MC_TouchProbeEx
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT TriggerInput TriggerInput UINT
UINT TriggerMode Busy BOOL
BOOL WindowOnly CommandAborted BOOL
LREAL FirstPosition Error BOOL
LREAL LastPosition ErrorID WORD
RecordedPosition LREAL

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Name Description Operation

condition
MC_AbortTrigger Abort trigger events Edge
MC_AbortTrigger
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT TriggerInput TriggerInput USINT
Busy BOOL
Error BOOL
ErrorID WORD

(5) Error reset monitoring

(a) When resetting an error occurred in the servo drive, the monitoring time can be set.
(b) In case an error occurs in servo drive at the time of resetting error that occurs in the axis due to error reset commands,
whether servo drive error is properly reset can be verified by setting error reset monitoring time.
(c) If monitoring time is exceeded, error reset is not executed any more even if the error of the drive is not reset.. In this case,
a servo drive error reset timeout error (error code: 0x1070) occurs.
(d) Error reset monitoring time of each driving axis can be set by using software package or axis parameter change function.
(e) Related parameter setting
Initial
Item Content Setting range
value
Error reset monitoring time Set the monitoring time in case of resetting error that
1 ~ 1000 ms 100 ms
(error reset timeout) occurs in servo drive

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8.3.3 Data manager function

(1) Parameter manager
(a) It is a function to read or change axis parameters stored in the module.
(b) It can change desired parameter values by specifying axis number and corresponding parameter number.
(c) Parameter value modified with parameter-write function is automatically stored in backup.ram in case there is no error.
(d) For parameters to be set in “ParameterNumber”, refer to the motion function block item.
(e) Relevant motion function block
Name Description Operation
condition
MC_ReadParameter Parameter Read level

MC_ReadParameter
BOOL Enable Vaild BOOL
UINT Axis Axis UINT
INT ParameterNumber Busy BOOL
Error BOOL
ErrorID WORD
Value LREAL

Name Description Operation

condition
MC_WriteParameter Parameter write Edge
MC_WriteParameter
BOOL Execute Vaild BOOL
UINT Axis Axis UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExcutionMode ErrorID WORD

(2) Cam data manager

It is able to read and change the cam data in program by the cam data Cam data reading/writing command

(a) Read Cam data

(ㄱ) CmDataRead command reads the cam profile data designated by CamTable ID when Enable input is enabled and saves
the data to the data area specified as MasterPoint and SlavePoint.
(ㄴ) The first address of the variables to store "Main-axis Position" and "Sub-axis Position" read from the camp profile is set at
the MasterPoint and the SlavePoint. In CamCurveSel, set an array variable to store the 'interpolation type' value.
(ㄷ) If the size of the array variable set in MasterPoint/ SlavePoint/ CamCurveSel is smaller than the number of cam points,
cam data is read as much as the size of the array, so the entire cam table data may not be read.

(b) Write CAM data

(ㄱ) When the Execute input is On, the cam data write command writes the values set in StartSlope and EndSlope and the
number set in CamPointNum to the camp profile designated by CamTalble ID, as well as the values of the array variables
set in MasterPoint and SlavePoint to 'main axis position' and 'sub axis position'. Write as a value and write the value of the
set array variable to CamCurveSel as the 'interpolation type' value.
(ㄴ) If the size of the array variable set in MasterPoint / SlavePoint / CamCurveSel is set to a value smaller than CamPointNum,

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“Error 16#000B” occurs.

(ㄷ) CamTableID input can be set to between 1 and 32. Setting a value outside the above range will cause "Error 16#000B"
(ㄹ) In CamPointNum, less than the number of settings set in the cam profile can be entered. If a value outside the range is set,
“Error 16#111C” occurs.

(c) Relevant motion function block

(ㄱ) Read Cam data
Name Description Operation
condition
LS_ReadCamData Read Cam data level

LS_ReadCamData
BOOL Enable Done BOOL
UINT Axis Axis UINT
UINT CamTable ID Busy BOOL
Array [] of LREAL MasterPoint Error BOOL
Array [] of LREAL SlavePoint ErrorID WORD
Array [] of BYTE CamCurveSel StartSlope LREAL
EndSlope LREAL
CamPointNum UINT

(ㄴ) Write CAM data

Name Description Operation
condition
LS_WriteCamData Write CAM data Edge

LS_WriteCamData
BOOL Execute Done BOOL
UINT Axis Axis UINT
UINT CamTable ID Busy BOOL
LREAL StartSlope Error BOOL
LREAL EndSlope ErrorID WORD
UINT CamPointNum
Array[] of LREAL MasterPoint
Array[] of LREAL SlavePoint
Array[] of BYTE CamCurveSel
UINT ExecutionMode

(3) SDO parameter management

(a) This function reads or changes SDO parameters of slave devices connected via network.
(b) Parameter values for a certain axis number and the corresponding object number can be read or changed.
Parameter number is specified by Index and SubIndex. Parameter size is specified by Length
(c) Index input can be set as follows. If it is not set as the setting value, "Error 0x1F12" occurs.
Setting Value Content
16#0000 ~ 16#0FFF Data Type Description
16#1000 ~ 16#1FFF Communication objects
16#2000 ~ 16#5FFF Manufacturer Specific Profile Area
16#6000 ~ 16#9FFF Standardized Device Profile Area

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(d) The value between 0~255 can be entered in SubIndex, and if the value is set outside the range, "error 0x1F12” occurs.
(e) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes. If the value is set outside the range, “error
0x1F12” occurs.
(f) The parameter values changed by SDO write function are not automatically stored to the ROM of the slave device. In
order to store the changed parameters to the servo drive EEPROM, please use SDO Save command.
(g) Relevant motion function block
(ㄱ) Read from SDO
Name Description Operation
condition
LS_ReadSDO Read from SDO level
LS_ReadSDO
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT Index Busy BOOL
UINT SubIndex Error BOOL
UINT Length ErrorID WORD
Value DINT

(ㄴ) Write to SDO

Name Description Operation
condition
LS_WriteSDO Write to SDO Edge

LS_WriteSDO
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT Index Busy BOOL
UINT SubIndex Error BOOL
UINT Length ErrorID WORD
DINT Value
UINT ExecutionMode

(ㄷ) SDO saving

Name Description Operation
condition
LS_SaveSDO SDO saving Edge
LS_SaveSDO
BOOL Execute Done BOOL
UINT Slave Slave UINT
UINT ExecutionMode Busy BOOL
Error BOOL
ErrorID WORD

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8.3.4 EtherCAT Communication Diagnosis Function

EtherCAT slave devices performsEtherCAT communication using ASIC, FPGA, or EtherCAT Slave Controller (ESC) included
in the standard micro controller. The communication diagnosis function of EtherCAT reads and writes the ECS (EtherCAT
Slave Controller) registers and memories of the slave device, allowing the user to check EtherCAT communication status and
errors. EtherCAT communication diagnosis function can be used whether communication is normal or disconnected.

(1) EtherCAT Slave Controller (ESC)

(a) ECS is configured as follows. Diagnosis function commands can be used to read and write in the ESC address spaces
shown in the block diagram below.

(b) ESC address space is configured as follows.

Address Definition Note
0x0000 ESC Information,
: ESC Register FMMU, SyncManager,
0x0FFF Distributed Clocks (DC).
0x1000
Digital I/O Input Data,
: Process Data RAM
Process Data RAM (1KB ~ 60KB)
0xFFFF
※ Please refer to EtherCAT Slave Controller (ESC) data sheet for detailed information on register and Process RAM.

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(2) Read from ESC

(a) This function reads data in ESC of the slave devices connected via network.
(b) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd
settings. If EcatCmd setting is 7(BRD), Adp input value is ignored.
EcatCmd Adp range
0x0000: The first slave connected
0xFFFF: The second slave connected
1 (APRD) 0xFFFE: The third slave connected
:
0xFFC1: The 64th slave connected
4 (FPRD) 1 ~ 64: slave 1~slave 64
7 (BRD) -
(c) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes.
(d) At EcatCmd, the type of command to use when reading ESC (EtherCAT Slave Controller) is specified. The following three
commands can be used.
(ㄱ) 1 - APRD (Auto Increment Physical Read)
This command is used when reading the slave device data following the order of physical connection before
normal communication connection by the master. A slave device receiving Adp with 0 value will read data of the
size designated by Length. Adp of each slave device increases when EtherCAT frame is received. For example,
if EcatCmd is 1, and Adp is set to 0xFFFF, when executing ESC read function block, reading is not performed
because the Adp at the time of receiving EtherCAT frame from the first slave device is not 1, only increasing Adp
by 1. When the second slve device receives EtherCAT frame, reading is performed because the Adp value of the
first slave value increased by 1 to 0. The Adp setting values depending on the slave device connection order are
as follows.
Slave device Setting value
The first slave connected 0
The second slave 0xFFFF
connected
: :
The 64th slave connected 0xFFC1
(ㄴ) 4 - FPRD (Configured Address Physical Read)
This order is used to read the data by designating the station address of the slave device after normal
communication connection by the master. If the Station Address of the slave device set by EtherCAT master
matches the transmitted Adp, the slave device reads data of the size designated by Length in the Ado area. The
Station Address of slave device set by master can be checked in slave information dialog box when the slave is
added.

(ㄷ) 7 – Read Broadcast (Broadcast Read)

All connected slave devices read data of the size set by Length in the Ado area, and saves the result after Bitwise-
OR. The designated address value at Adp is ignored, and Wkc increase by 1due to all slaves that performed
normal read operation
(e) Value and Wkc(Working Counter) is displayed as 0 when the motion function block is executed. When the execution is
completed (Done output is on), the read data value is displayed at Value, and the Working Counter value is displayed at
Wkc.

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(f) Wkc stands for Working Counter. If data is successfully read at the designated slave device, it increases by 1. If EcatCmd
is 7(BRD), it increases by 1 due to all slaves that performed normal read operation.
(g) After the execution of ESC read command, if normal data read operation is executed from the designated slave device,
Done output is on.
(h) ESC read command and ESC write command cannot be simultaneously executed. If they are executed at the same time,
the command of the program last executed is executed, and an error (0x1021) occurs in the preceding command.
(i) Relevant motion function block
Name Description Operation
condition
LS_ReadEsc Read from ESC Edge

LS_ReadEsc
BOOL Execute Done BOOL
UINT Adp Busy BOOL
UINT Ado Error BOOL
UINT Length ErrorID WORD
UINT EcatCmd Value UDINT
Wkc UINT

(j) In the following cases, ESC reading cannot be performed due to errors, properly.
(ㄱ) No slave device is connected to module (Error Code: 0x0F09)
(ㄴ) Adp setting value is outside the range (Error Code: 0x0F60)
(ㄷ) Length setting value is outside the range (Error Code: 0x0F61)
(ㄹ) EcatCmd setting value is outside the range (Error Code: 0x0F62)
(ㅁ) No response to ESC read command (Error Code: 0x0F63)

(3) Write to ESC

(a) This function writes data in ESC of the slave devices connected via network.
(b) Adp input specifies the EtherCAT slave device address, and the following values can be set depending on EcatCmd
settings. If EcatCmd setting is 8(BWR), Adp input value is ignored.
EcatCmd Adp range
0x0000: The first slave connected
0xFFFF: The second slave connected
2 (APWR) 0xFFFE: The third slave connected
:
0xFFC1: The 64th slave connected
5 (FPWR) 1 ~ 64: slave 1~slave 64
8 (BWR) -
(c) In Length, values ranging from 1 to 4 can be entered, which mean 1 to 4 bytes.
(d) At EcatCmd, the type of command to use when reading ESC (EtherCAT Slave Controller) is specified. The following three
commands can be used.
(ㄱ) 2- APWR( Auto Increment Physical Write)
This command is used when reading the slave device data following the order of physical connection before
normal communication connection by the master. A slave device receiving Adp with 0 value will read data of the
size designated by Length. Adp of each slave device increases when EtherCAT frame is received. For example,

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if EcatCmd is 2, and Adp is set to 0xFFFF, when executing ESC read function block, reading is not performed
because the Adp at the time of receiving EtherCAT frame from the first slave device is not 0, only increasing Adp
by 1. When the second slave device receives EtherCAT frame, writing is performed because the Adp value of the
first slave value increased by 1 to 0. The Adp setting values depending on the slave device connection order are
as follows.
Slave device Setting value
The first slave connected 0
The second slave 0xFFFF
connected
: :
The 64th slave connected 0xFFC1
(ㄴ) 5 – FPWR(Configured Address Physical Write)
This order is used to write the data by designating the station address of the slave device after normal
communication connection by the master. If the Station Address of the slave device set by EtherCAT master
matches the transmitted Adp, the slave device writes data of the size designated by Length in the Ado area. The
Station Address of slave device set by master can be checked in slave information dialog box when the slave is
added.

(ㄷ) 8 – Write Broadcast BWR, Broadcast Write)

All connected slave devices write data of the size set by Length in the Ado area. The designated address value at
Adp is ignored, and Wkc increase by 1 due to all slaves that performed normal write operation.
(e) Wkc value is displayed as 0 when the motion function block is executed, and the Working Counter value is displayed when
execution is completed (Done output is on). Wkc increases by 1 through each slave device designated by EcatCmd and
Adp.
(f) Wkc stands for Working Counter. If data is successfully written at the designated slave device, it increases by 1. If EcatCmd
is 8(BWR), it increases by 1 through each slave device that performed normal write operation.
(g) After the execution of ESC write command, if normal data write operation is executed in the specified slave device, Done
output is on.
(h) Slave devices use ESC to perform EtherCAT communication. Therefore, changing ESC register values while executing
connection/disconnection command or during normal EtherCAT communication may prevent the slave device from
maintaining existing motions or cause communication errors. Therefore, using the following ESC Register causes an error
without executing write motion. (Error code: 0x0F74)
Ado range Definition
0x0010 ~ 0x0011 Configured Station Address

0x0020 ~ 0x0021
Write Protection
0x0030 ~ 0x0031

0x0040 ESC Reset ECAT

0x0100 ~ 0x0103 DL Control

0x0120 ~ 0x0121 AL Control

0x0600 ~ 0x06FF FMMU

0x0800 ~ 0x087F SyncManager

0x0900 ~ 0x09FF Distributed Clocks

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0x0120 (AL Control) register can be written after the connection of normal communication, not the execution of
connection/disconnection command.
(i) ESC read command and ESC write command cannot be simultaneously executed. If they are executed at the same time,
the command of the program last executed is executed, and an error (0x1021) occurs in the preceding command.
(j) Relevant motion function block
Name Description Operation
condition
LS_WriteEsc Write to ESC Edge

LS_WriteEsc
BOOL Execute Done BOOL
UINT Adp Busy BOOL
UINT Ado Error BOOL
UINT Length ErrorID WORD
UINT EcatCmd Wkc UINT
UDINT Value

(k) In the following cases, ESC writing cannot be performed due to errors, properly
(ㄱ) No slave device is connected to module (Error Code: 0x0F09)
(ㄴ) Adp setting value is outside the range (Error Code: 0x0F70)
(ㄷ) Length setting value is outside the range (Error Code: 0x0F71)
(ㄹ) EcatCmd setting value is outside the range (Error Code: 0x0F72)
(ㅁ) No response to ESC read command (Error Code: 0x0F73)
(ㅂ) Ado setting value is not correct (Error Code: 0x0F74)

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8.3.5 Cable Duplication function

It provides cable duplication function using port multiplier. Constructing a ring topology using port multiplier will prevent the
network between slaves from disconnecting even in case of a cable disconnection on one side. When the disconnected cable
is re-connected, it is recovered to the original communication method.

Cable
Tx data
Rx data

Port multiplier

Open

Port multiplier of up to 1 can be used. In case of using a port multiplier, it occupies an IO slave number. Therefore, a caution is required
when using since the use of the port multiplier reduces the number of IO slaves available.

(1) EC_LINE_FAIL (cable disconnection) flag disconnection diagnosis

The EC_LINE_FAIL flag can be used to diagnose disconnection during redundancy configuration. In the case of a port
multiplier, all ports are checked and the EC_LINE_FAIL flag is On when disconnection is detected in the port. In case of general
slave, EC_LINE_FAIL flag is On only if there is a slave whose A port is disconnected.

(a) Redundancy is configured with GX-JC03 port multiplier and 2 L7NH slaves.

(b) The operation of the EC_LINE_FAIL flag according to the condition is as follows.
_EC_LINE_FAIL[0] : port multiplier
_EC_LINE_FAIL[1] : slave 2
_EC_LINE_FAIL[2] : slave 3

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No Condition _EC_LINE_FAIL[0] _EC_LINE_FAIL[1] _EC_LINE_FAIL[2]

1 Only X3 is On Off Off
disconnected
2 Only X2 is On On Off
disconnected
3 Both X2 and X3 are On On On
disconnected

- When only X3 is disconnected, _EC_LINE_FAIL[0] of the port multiplier is ON and other LineFail flags are not ON
because port A among general slaves (Slave 2, Slave 3) is not disconnected.
- When only X2 is disconnected, _EC_LINE_FAIL[0] of the port multiplier is ON and _EC_LINE_FAIL[1] is ON because
port A of slave No. 2 is ON.
- If both X2 and X3 are disconnected, _EC_LINE_FAIL[0] of the port multiplier is turned on, and _EC_LINE_FAIL[1],
_EC_LINE_FAIL[2] are turned on because all the port status information of the slave cannot be read.

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8.3.6 Replacement during connection

While using the cable duplication function, if a slave device previously not in operation due to network disconnection or a
failure is restored and connected to the network, this function detects the connection and connects to the network of the
individual slave device without having to reconnect the overall network.

(2) Replace function during connection setting

To set the slave device to use the function to replace slaves during connection, the "In-connection Replacement Function"
at the slave information should be set to Enabled. In case of a slave for which the replacement function is not set to use, if the
slave is removed from the network, the removal is regarded as a network error, which stops the entire network.

(3) Master parameter setting

When using the in-connection replacement function, the slaves being replaced should be identical to the replacing slave. To
determine whether the slaves being replaced are identical, check whether the manufacturer/product codes match. In addition,
check whether the revision/serial numbers are identical, depending on the master parameter settings.

(4) The way of slave exchange during connection

(a) Remove the input/output cable of the slave to be replaced during the network connection.
(b) Shut off the power of the slave.
(c) Apply the power to the slave to be replaced.
(d) Connect the cable of one side of the port.
(The simultaneous connection of input/output cables may prevent normal replacement.)
(d) When the slave communication is restored, connect the cable of the other side.

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8.3.7 Encoder Position Latch Function

If using the encoder position latch function, you can use the encoder value that is not affected by the program task cycle
through the built-in input by latching the value.
Encoder latch operates through the input of the built-in input channel 1 (%IX0) and channel 2 (%IX1).

(1) Parameter setting

To use the encoder position latch function, setting of the ‘Encoder - Encoder 1/2 Position Latch’ parameter is needed. This
parameter sets whether to use the ‘Encoder 1/2 Position Latch’ function as follows:
Item Setting range Initial values
0: Unused
Encoder 1 Position Latch 0: Unused
1: used
0: Unused
Encoder 1 Position Latch 0: Unused
1: used

(2) Trigger condition

Input condition Latch values Flag name (Device)

Built-in input 1 channel (%IX0) input Encoder 1 Input Position _ENC1_POS_LATCH (%KL5)
rise Latch
Built-in input 2 channel (%IX1) input Encoder 2 Input Position _ENC2_POS_LATCH (%KL6)
rise Latch

The relative operation is as follows:

If a signal is input into the built-in input channel 1, the position value is latched in the rising edge and saved as the encoder 1
input position latch value.
If a signal is input into the built-in input channel 2, the position value is latched in the rising edge and saved as the encoder 2
input position latch value.

Built-in input channel1

(%IX0)
Built-in input channel2
(%IX1)

Encoder1 input position

1500 Encoder2 input position

Position value 1000

500

0
1500 Encoder1 input position
1500
latch(%KL5)
Latch value 1000 Encoder2 input position
1000
Latch(%KL6)
500
500
0
0

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8.3.8 Position Control Range Expansion

When executing the position control among motion functions, the target position value can be set in the range of 32-bit integer
types based on the pulse position. However, if the resolution of a motor encoder is high or the transfer distance of the machine
is long, position control is sometimes needed to exceed the range of 32-bit integer types.
In such case, the ‘Position Control Range Expansion’ function can position control by expanding the range of position control
to the range of 48-bit integer types.
(1) Parameter setting
To use the ‘Position Control Range Extension’ function, you need to set the ‘Axis Parameter – Basic Setting – Position
Control Range Extension’ parameter. This parameter sets whether to use the ‘Position Control Range Extension’ function
as follows.
Item Setting range Initial values
Position Control Range 0: Unused
0: Unused
Expansion 1: used
(2) Position Control Range
An error occurs when a position exceeds the position control range after conversing the unit position set to LREAL into the
pulse unit when specifying the target position in motion control commands.
The range of position control according to whether to use the ‘Position Control Range Expansion’ function is as follows:
Item Setting value Position Control Range
Integer 32bit
0: Unused
Position Control Range  -231 ~ 231-1 (-2,147,483,648 ~ 2,147,483,647)
Expansion Integer 48bit
1: used
 -247 ~ 247-1 (-140,737,488,355,328 ~ 140,737,488,355,327)
If using the ‘Position Control Range Expansion’ function, the range of position control is expanded 65,536 times more than
previously.
(3) Software Upper/Lower Limits
If ‘soft upper/lower limit’ parameters are set to the initial value (the soft upper limit = 2147483647 and the soft lower limit = -
2147483648), operation changes according to ‘Position Control Range Expansion’ parameters as follows:
1) If ‘Position Control Range Expansion’ = ‘0: Disable’
- If the soft upper limit is 2147483647 and the soft lower limit is -2147483648, the software upper/lower limits are
not detected.
2) If ‘Position Control Range Expansion’ = ‘1: Enable’
- If the soft upper limit is 2147483647 and the soft lower limit is -2147483648, the software upper/lower limits are
examined with these values. When the position control exceeds these values, an axis stops suddenly after the
software upper/lower limit error occurs.
※ If the soft upper limit and lower limit are set to the same value, the software upper/lower limits are not detected
irrespective of the ‘Position Control Range Expansion’ setting.
(4) Restrictions
When the position value is specified for the next item, the position range after being converted into pulse unit is limited to
the ‘32-bit integer type’ value.
1) Transfer distance per 1 rotation
2) Infinite running repeat position
3) Command in-position range
4) Excessive following error value
5) Current pos. compensation amount
6) Phase compensation amount of the phase compensation command
7) Target distance of the SuperImposed operation command
8) If the linear interpolation, TransitionMode is TMCornerDistance, the value of TransionParameter

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8.3.9 Connection function less than the set number

In the standalone motion controller, if the slave whose replacement function is set to '1: Use' during connection is not
connected, the unconnected slave can be restored using the replacement function during connection in the future, and
EtherCAT connection of the remaining connected slaves is allowed.

(1) Connection function setting less than the number of settings

When using less than the set number of connections, set the replacement function during connection of the slave that
will allow less than the set number of connections to ‘1: Use’. If a slave whose replacement function is set to ‘0: not used’
during connection is not connected, EtherCAT connection is not performed.

(2) Less than set number of connection function available version

In the version that does not support the connection function less than the set number, even if the replacement function
is set to ‘1: Use’ during slave connection, if it is not connected when performing EtherCAT connection, EtherCAT
connection is not performed.

Item
Module O/S XG5000
Product name
XMC-E32A
XMC-E16A
V1.70 -
XMC-E08A
XMC-E32C

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8.3.10 Node switch operation mode setting

In the standalone motion controller, the function to set the station number of the slave through the node switch is provided.
When performing automatic connection with node switch set, the station number of each slave uses the value set in the node
switch of the slave as the slave station number. After that, when performing EtherCAT connection through slave connection or
function block command, the function to check whether the connection sequence of slaves matches the EtherCAT parameter
setting with the station number of the slave set in the node switch, and to set the station number of the EtherCAT network by
the node switch setting It provides a matching function. By setting node switch operation mode, you can set the node switch
operation mode when connecting to EtherCAT.

(1) Node switch use conditions

(a) All slaves in the EtherCAT network must have the node switch value set.
(b) The node switch setting value of all slaves must be set within the slave station number setting range (1~64).
(c) There should be no slaves with duplicate node switch settings

(2) Node switch operation mode setting

(a) Node switch operation mode can be set by selecting Motion Data > EtherCAT Parameter > Master in the project tree.

(b) If you select the General Information tab, you can set the node switch operation mode. Node switch operation mode can
be set to 3 modes: 0: Connection order check/1: No connection order check/2: Node switch use.

(3) Node switch operation mode

(a) 0: Connection order check: This is an operation mode in which an error occurs when the node switch set value does not
match the station number setting of the EtherCAT parameter and the connection sequence.
(b) 1: Connection order not check: Regardless of the connection order, it is an operation mode that connects to the setting

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of the slave with the station number that matches the value set in the node switch. The slaves moved by the node switch
setting must use the same slave.
(c) 2: node switch not use: This is an operation mode that does not use node switches.

(4) Node switch operation mode differences

Connect 4 identical EtherCAT slaves, set station number 1 to station number 4 in order from the first slave, and set the node
switch to 4 to 1 from the first slave to the actually connected slave. The operation according to the switch operation mode is as
follows.

XMC

Node switch:4 Node switch:3 Node switch:2 Node switch:1

Port Port Port Port Port Port Port

Slave Slave Slave Slave
A B A B A B A

(a) When the node switch operation mode is ‘0: check connect order’, as the node switch setting is different from the
connection order of EtherCAT parameter, 0xF0E error occurs and EtherCAT connection fails.

(b)When the node switch operation mode is ‘1: No check connect order’, as the station number is set by the node switch
regardless of the connection order, the first slave is connected as slave 4, the second slave is slave 3, the third slave is slave
2, and the fourth slave is connected as slave 1.

XMC

Station: 4 Station:3 Station:2 Station:1

Port Port Port Port Port Port Port

Slave4 Slave3 Slave2 Slave1
A B A B A B A

(b) When the node switch operation mode is ‘2: No node switch use’,as node switch is not used, as set in EtherCAT
parameter, the first slave is connected as slave 1, the second slave is slave 2, the third slave is slave 3, and the fourth
slave is connected as slave 4.

XMC

Station: 1 Station:2 Station:3 Station:4

Port Port Port Port Port Port Port

Slave1 Slave2 Slave3 Slave4
A B A B A B A

(5) Available version of Node switch operation mode setting

Versions that support node switch operation mode setting function are as follows. In the version of the product that does
not support node switch operation mode setting, it operates as set as ‘0: check connection order’.
Item
Module O/S XG5000
Product name
XMC-E32A
XMC-E16A
V1.70 V4.53
XMC-E08A
XMC-E32C

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8.4 Coordinate Systems Operation Functions

8.4.1 Overview of Coordinate Systems Operation

Different coordinate systems define various ways specifying certain positions or directions in the space. The figure below shows how
to represent a certain TCP through each coordinate system. In the ACS coordinate system, TCP is represented as the rotation angle of
a robot joint consisting of two links. In the MCS coordinate system, TCP position is represented based on the home position of MCS. In
the PCS coordinate system, TCP position is represented based on the home position of TCP
TCP represented as PCS/MCS cannot be delivered to the motor connected to the robot for operation. To operate the motor connected
to the robot, the values converted to ACS should be used, as it represents the actual movement of the motor. Therefore, for operation in
a coordinate system, convert PCS to MCS coordinates through the Cartesian coordinate conversion, and convert the MCS coordinates
to ACS coordinates through inverse kinematics conversion, and deliver the CA values to each motor to begin operation.

Y mcs

X mcs

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8.4.2 ACS/MCS/PCS/TCP
ACS: Axes Coordinate System (ACS) represents the actual movement of the physical motors.

MCS: Machine Coordinate System (MCS) is related with machines (robots). It is the fixed home position of the mechanical
system represented as the Cartesian coordinate system.

PCS: Product Coordinate System based on MCS represents the position of products being moved or rotated. PCS is linked
to the products through a program, and a user can be changed.

TCP (Tool Center Point) is the center or end point of the tool as a position to which a machine (robot) is moved by the command.
In case of operation using MCS or PCS, the target position is represented by TCP. TCP consists of 6 RotC data: Px,Py,Pz,
representing movement along XYZ axes; RotA representing rotation along X axis; RotB representing rotation along Y axis; and
RotC representing rotation along Z axis.

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8.4.3 PCB setting

PCS represents TCP on the work stand. TCP is defined by rotation and movement from the origin point. The parameter to convert
PCS into MCS can be set using MC_SetCartesianTransform function block or setting axes group parameter. In
MC_SetCartesianTransform, TransX/TransY/TransZ represents the distance of movement from the MCS origin point to the PCS origin
point. RotA/RotB/RotCare rotation values for PCS. RotA represents PCS rotation along X-axis. RotB represents PCS rotation along Y-
axis. RotC represents PCS rotation along Z-axis PCS rotation is performed in the following order: RotC->RotB->RotA

Z mcs

Z pcs
Y mcs Y pcs

TransZ
X pcs

TransX

TransY
X mcs

Zpcs=Z`pcs Z`pcs
Z``pcs
RotC Z``pcs Z```pcs
Y```pcs
Y`pcs RotB
Y`pcs=Y``pcs Y``pcs
Ypcs
RotA

X`pcs X`pcs
X``pcs X```pcs=X``pcs

(1) Relevant motion function block

Name Description Operation
condition
MC_SetCartesianTransform PCS setting Edge

MC_SetCartesianTransform
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL TransX Busy BOOL
LREAL TransY Active BOOL
LREAL TransZ CommandAborted BOOL
LREAL RotAngleA Error BOOL
LREAL RotAngleB ErrorID WORD
LREAL RotAngleC

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8.4.4 Machine Information Setting

To operate the robot using coordinate system operation, the type of the robot (machine) and the machine parameters should
be set at the axes group parameter in advance. Machine parameters can be set using MC_SetKinTransform function block.
XG5000 axes group parameters can be set using the same.
(1) Machine information, machine type setting
In the machine type settings, select the type of machine (robot) to perform coordinate system operation. XYZ / Delta3 / Delta3R
/ LinearDelta3 / LinearDelta3R can be selected as the robot type.

(a) XYZ (Cartesian coordinates) robot

XYZ is a robot type with servo motors connected to X/Y/Z axes, which can perform the operation in Cartesian coordinates, and
it does not require additional kinematic analysis between ACS and MCS.

(b) Delta3
MCS of the Delta robot
In case of a Delta robot, the center of Fixed Frame is defined as MCS. The relationship between each axis connected to Delta
and MCS are as shown below.
Y mcs

Axis3
Z mcs
Y mcs
Axis2
X mcs
Axis3 Axis2
X mcs

Axis1
Axis1

TCP

ACS of the Delta robot

The direction of the link connected to Delta's fixed frame facing the floor is defined as the forward direction of the axis operating
the link, and the other direction is defined as the opposite direction.
Fixed frame
Fixed frame link

Reverse
0
Forwar
d

Moving frame link

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(c) LinearDelta3

MCS of the LinearDelta robot

In case of a linearDelta robot, the center of Fixed Frame is defined as MCS. The relationship between each axis connected to
linearDelta and MCS are as shown below.

Z mcs Axis3 Y mcs

Y mcs
Axis2
X mcs
Axis2

X mcs
Axis3

Axis1

Axis1

TCP

ACS of the LinearDelta robot

The utmost position that the linear axis of the LinearDelta robot moves toward the ceiling is defined as 0. The direction that the
linear axis moves toward the bottom is defined as the forward direction, and the opposite direction is defined as the reverse
direction.

Fixed frame

Forward direction

Moving frame link

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(d) T-Gantry

MCS of the T-Gantry robot

The MCS of the T-Gantry robot defines the position of the end of a tool when the positions of Axis 1 and Axis 2 are 0 as the
origin (0, 0) of MCS. The relationship between MCS and the axis connected with T-Gantry is shown in the following figure:

CW(-) CW(-)
CCW(+) CCW(+)

Axis1 Axis2

Zmcs

TCP Xmcs

ACS of the T-Gantry robot

If the structure of the T-Gantry robot is the same as the above, define a counterclockwise operation as a forward one and a
clockwise operation as a reverse one.

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(2) Machine information, machine parameter setting

(a) XYZ
XYZ robot does not require separate machine parameters, as the position of each axis matches the XYZ coordina
tes of TCP.

(b) Delta3/Delta3R
Parameter Description
KinParam[0] Lf:Link length of the fixed frame(mm)
Rf
KinParam[1] Lm: Link length of the moving frame(mm)
KinParam[2] Rf: Length from the center of the fixed frame to the
link of the fixed frame(mm)
KinParam[3] Rm: Length from the center of the moving frame
to the link of the moving frame(mm)

Rm

(c) LinearDelta3/LinearDelta3R
Parameter Description
KinParam[0] Lm: Link length of the moving frame(mm)
RfTop KinParam[1] Hf:Fixed frame height (mm)
KinParam[2] RfTop: Radius of top fixed frame(mm)
KinParam[3] RfBottom: Radius of bottom fixed frame(mm)
hf

RfBottom
KinParam[4] Rm: Length from the center of the moving frame
to the link of the moving frame(mm)

Rm

(d) T-Gantry
The T-Gantry robot does not need the parameter setting of a separate mechanism.

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(3) Machine information, tool offset setting

A tool offset function is provided in addition to the machine information, as additional equipment may be connected to the end
of the robot's TCP. Activating tool offset applies the offset to the TCP target position applied to the coordinate system operation.
Z mcs
X mcs
Axis2

Axis1

Y mcs
Axis3

ToolOffsetZ
ToolOffsetX

ToolOffsetY TCP

TCP applied with Offset

(4) Axis group, axis configuration setting

To perform coordinate system operation, the axes should be set to suit the machine type. Coordinate system operation is not
performed if the number of axes or the axis unit does not match.

Number of Unit
Machine type
axis Axis 1 Axis 2 Axis 3 Axis 4
XYZ Axis 3 mm mm mm -
Delta3 Axis 3 degree degree degree -
Delta3R Axis 4 degree degree degree degree
LinearDelta3 Axis 3 mm mm mm -
LinearDelta3R Axis 4 mm mm mm degree

(5) Related motion function block

Name Description Operation
condition
MC_SetKinTransform Machine Information Setting Edge

MC_SetKinTransform
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT KinType Busy BOOL
UINT KinExtParam Active BOOL
ARRAY[0..11] OF LREAL[ ] KinParam CommandAborted BOOL
LREAL ToolOffsetX Error BOOL
LREAL ToolOffsetY ErrorID WORD
UINT ToolOffsetZ

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8.4.5 Workspace configuration

For coordinate system operation, in order to prevent machine damage or safety accident caused by the robot performing
impossible motion, a work space function is provided to prevent the robot from going out of the preset work space. Coordinate
system operation is not performed if the robot's current position or target position is outside the work space. Work space setting
can be performed using LS_SetWorkspace function block. XG5000 axes group parameters can be set using the same

(1) Work Space Setting

Perform work space settings, and the occurrence of work space error can be set. Set the workspace type set in the
WorkspaceType as the work space parameter set in the WorkspaceParam in the axis group specified in the set AxesGroup
input. If WorksaceError value is set to 0, the operation continues without errors even when it goes out of the work space.
Work space settings cannot be performed while the axes group is in operation.
Name Description Operation
condition
LS_SetWorkspace Work Space Setting Edge

LS_SetWorkspace
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT WorkspaceType Busy BOOL
BOOL WorkspaceError Active BOOL
ARRAY[0..7] OF LREAL[ ] WorksapceParam CommandAborted BOOL
Error BOOL
ErrorID WORD

(2) Workspace type and parameter

The work space type supports 4 types of Rectangle/Cylinder/Delta/Sector.

Rectangle
Parameter Value
WorkspaceParam[0] X max(mm)
Y Axis
WorkspaceParam[1] X min(mm)
WorkspaceParam[2] Y max(mm)
WorkspaceParam[3] Y min(mm)
WorkspaceParam[4] Z max(mm)
Ymax

Xmin WorkspaceParam[5] Z min(mm)

Xmax
Ymin

X Axis

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Cylinder
Parameter Value
WorkspaceParam[0] Radius(mm)
Z Axis Radius WorkspaceParam[1] Z max(mm)
WorkspaceParam[2] Z min(mm)

Zmax
Zmin

X Axis

Delta
Z Axis
Parameter Value
YAxis WorkspaceParam[0] Zu(mm)
WorkspaceParam[1] Hcy(mm)
WorkspaceParam[2] Hco(mm)
WorkspaceParam[3] Rcy(mm)
Zu

WorkspaceParam[4] Rco(mm)
Rcy
WorkspaceParam[5] -
Hco Hcy

Rco

Sector
Parameter Value
WorkspaceParam[0] L end (mm)
Y Axis WorkspaceParam[1] L start(mm)
WorkspaceParam[2] Z max(mm)
WorkspaceParam[3] Z min(mm)
WorkspaceParam[4] EndAngle(degree)
WorkspaceParam[5] StartAngle(degree)
EndAngle
StartAngle

X Axis

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8.4.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System
Use the related axes set in the axes group to perform interpolation control by moving the TCP from the current position to the
target position in the set time in a linear trajectory.

(1) Executes linear interpolation from starting position to the target position designated on positioning data. Positioning
control is carried out based on the position specified from homing.
(2) Set Position[ ] to define the TCP target position.
Variable Meaning Unit
Position[0] X axis position mm
Position[1] Y axis position mm
Position[2] Z axis position mm
Position[3] X axis rotation amount degree
Position[4] Yaxis rotation amount degree
Position[5] Zaxis rotation amount degree

(3) Depending on the robot type, some Position variable areas may not be applied. Data input in the unapplied areas
is not reflected in coordinate system operation.
Variable Robot type
XYZ Delta3
Position[0] Apply Apply
Position[1] Apply Apply
Position[2] Apply Apply
Position[3] Disabled Disabled
Position[4] Disabled Disabled
Position[5] Disabled Disabled

(4) Perform linear interpolation to reach the target TCP in the time set in TrajTime.
(5) TrajType input determines the type of acceleration/deceleration for reaching the interpolation trajectory. Three
types of 0: Trapezoid/Sine1/Sine2are available.
Trapezoid
Operation profile of basic trapezoidal linear acceleration/deceleration

Sine1
The velocity profile of this operation type consists of sine curves. It is suitable for low-load high-velocity operation, and
reduces impact on the motor caused by load changes.

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Sine2 (Sine With Constant)

This velocity profile of this operation type consists of sine curves and constant speed sections. It is suitable for high-load,
medium-velocity operation.

(6) When CoordSystem input is set to 1, the robot operates using the Position values as MCS coordinates. When it
is set to 2, the robot operates using the Position values as PCS coordinate system.
(7) To stop the current interpolation control, use MC_GroupHalt or MC_GroupStop motion function block.
(8) Relevant motion function block
Name Description Operation condition
MC_MoveLinearTimeAbsolute Coordinate system absolute Edge
position time linear interpolation
operation

LS_MoveLinearTimeAbsolute
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CoordSystem Busy BOOL
ARRAY[0..5] OF LREAL[ ] Position Active BOOL
UINT TrajType Error BOOL
LREAL TrajTime ErrorID WORD
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

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(9) Restrictions
Coordinate system absolute position time linear interpolation control cannot be performed in case of the following errors
• CoordSystem input is set to a value other than 1 or 2 (Error Code: 0x20BC)
• The operation parameter unit of the component axes is not compatible with the coordinate system type (Error Code:
0x2063)
• In case there is an axis which is in the origin indetermination state among configuration axes (error code: 0x20B0)
• In case the operation speed of configuration axis exceeds the speed limit of each axis (error code: 0x20B9)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20BA)

(10) Operation Timing

- Start position:(100.0, 400.0, 0.0)
- Target position:(1000.0, 100.0, 0.0)
- Target time: 4000msec
- Operation tyoe: 0

Y Axis
Start point
400

100
Target point

0 X Axis
100 500 1000

Interpolation velocity

0 Time(msec)
1000 3000 4000

Execute

Busy

Active

Done

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8.4.7 Circular Interpolation Operation for Coordinate System

Coordinate system-based circular interpolation operation is performed, where the TCP moves in a circular trajectory on the XY plane
using the designated axis in the axes group. Coordinate system absolute position circular interpolation control involves the same setting
and motion except that it is based on a coordinate system. There are three kinds of methods for circular interpolation such as midpoint
method that passes through the position specified in auxiliary point, center point method that considers the position specified in auxiliary
point as center point and radius method that takes the value specified in auxiliary point as the radius of an arc depending on ‘CircMode’
settings and auxiliary points. To stop the current interpolation control use MC_GroupHalt or MC_GroupStop motion function block.
(1) EndPoint/AuxPoint
In case of coordinate system circular interpolation control, enter the Px,Py,Pz of TCP to EndPoint/AuxPoint. The RotA, RotB, RotC
values, which determine the TCP posture, is not entered, instead maintaining the values at the start position.

(2) Circular interpolation with middle point designation form.

(a) Circular interpolation is executed from starting position to target position through midpoint position set in auxiliary
point.
(b) To be made path of circular interpolation with start position, midpoint and a crossing which is perpendicular divi
de equally position of midpoint and target position.
(c) Movement direction is decided automatically depends on set target position and auxiliary point of circular interpol
ation.

Y axis
Middle point

Target point

St art point

Center point

X axis

(d) Restrictions
Circular interpolation control using mid-point specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code:
0x20A4)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)

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(e) Operating Pattern

- Start position:(0.0, 0.0, 0.0)
- Target position:(100.0, 60.0, 0.0)
- Midpoint position:(20.0, 60.0)
- CircMode: Midpoint(0)
- Direction(PathChoice): - (Ignored in middle point method)

Y axis
Operation by the
circular interpolation
Middle point
(20, 60)
Target point
60 (100, 60)

Center point

St art point
(0, 0)
X axis
0 20 100

(3) Circular interpolation with center point designation form

(a) Circular interpolation is performed by starting at the start position, and reaching the target position in a circular t
rajectory of which the diameter is the distance to the designated center point.
(b) The movement direction is determined as the direction set in the absolute position circular interpolation operatio
n (MC_MoveCircularAbsolute2D), the relative position circular interpolation operation (MC_MoveCircularRelative2D),
or “PathChoice” of the motion function block.
▪ 0:「CW」 - perform circular interpolation in the clockwise direction from the start position.
▪ 1:「CCW」- perform circular interpolation in the counter-clockwise direction from the start position.
Center point, CW Center point, CCW

Y axis
Y axis
Operation by the circular Target point
interpolation
Target point

Operation by the
circular interpolation

Start point
Center point Radius Center point
of the circle of the circle
Start point
Radius

X axis X axis

Origin Origin

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(c) If target position is same with start position, can progress circular interpolation. And the circle radius is distance
from midpoint to starting position (=target position)

Y axis Operation by the

circular interpolation

Center point
of the circle

Start point = Target point

X axis

Origin

(d) Restrictions
Circular interpolation control using center point specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code:
0x20A4)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)
(e) Operating Pattern
- Start position:(0.0, 0.0, 0.0)
- Target position:(0.0, 0.0, 0.0)
- Auxiliary position:(100.0, 100.0, 0.0)
- CircMode: Center Point(1)
- PathChoice: CW(0)

Y axis

Center point(100,100)
100

X axis
0 100

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(4) Circular interpolation with radius designation form

(a) Circular interpolation is performed from starting position to target position along the trajectory of the arc that take
s the value set in circular interpolation auxiliary point. The arc that has center point depending on the sign of r
adius ((+): arc angle <180°, (-): arc angle>=180°) is drawn.
CW, Arc<180° CW, Arc>=180° CCW, Arc<180° CCW, Arc>=180°

Y axis Y axis
「CW, Arc>=180°」
Circular interpolat ion
operat ion

Arc angle < 180°

Arc angle >= 180°
Center 「CCW, Arc<180° 」
Center point Circular interpolat ion
point
operat ion
Radius Radius
Target point
Target point

St art point 「CW, Arc<180° 」 St art point

Circular interpolat ion
operat ion Arc angle>=180°

Radius Arc angle < 180° Radius

Center point X axis X axis
Center point
Origin Origin
중심점 「CCW, Arc>=180°」
Circular interpolat ion
operat ion

(b) In circular interpolation of radius specification method, the target position cannot be set the same as starting po
sition.
(c) The movement direction and the size of the arc are determined by the signs of the auxiliary point and the dire
ction set in the absolute position coordinate system circular interpolation operation (MC_MoveCircularAbsolute2D), th
e relative position coordinate system circular interpolation operation (MC_MoveCircularRelative2D), or “PathChoice”
of the motion function block.
(d) Restrictions
Circular interpolation control by radius specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)

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(e) Operating Pattern

- Start position:(100.0, 100.0, 0.0)
- Target position:(900.0, 100.0)
- Auxiliary position:(500.0, 0.0)
- CircMode: Center Point(2)
- PathChoice: CW(0)

「CW, Arc<180° 」
Y axis Circular interpolat ion
operat ion

St art point Target point(900,100)

100
(100,100)
X axis
0 100 500 900
-100
Radius
=500 Arc angle < 180°
-200
Center point

(5) Relevant motion function block

(a) Absolute position coordinate system circular interpolation operation
Name Description Operation
condition
MC_MoveCircularAbsolute2D Absolute position circular Edge
interpolation operation

MC_MoveCircularAbsolute2D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

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(b) Relative position coordinate system circular interpolation operation

Name Description Operation
condition
MC_MoveCircularRelative2D Relative position circular Edge
interpolation operation

MC_MoveCircularRelative2D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

(6) Helical interpolation

(a) When circular interpolation commands (absolute position coordinate system circular interpolation operation (MC_
MoveCircularAbsolute2D), relative position coordinate system circular interpolation operation (MC_MoveCircularRe
lative2D)) are executed, circular interpolation is performed by moving in a circular trajectory on the XY plane, w
hile linear interpolation synchronized to the circular interpolation motion is performed with respect to Z-axis

(b) To perform helical interpolation, set the target position for linear interpolation at Pz of ‘EndPoint’.

Z axis

Target point Helical interpolation

(x2, y2, z2) operat ion

Linear interpolation
line

Y axis

Center point

St art point
X axis (x1, y1, z1) Circular interpolat ion
line

(c) Restrictions
The restrictions of helical interpolation are the same as those of circular interpolation according to the set circular
interpolation modes.

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(d) Operating Pattern

- Start position:(65.0, 40.0, 0.0)
- Target position:(40.0, 120.0, 35.0)
- Center point position:(40.0, 80.0, 0.0)
- CircMode: Center Point(1)
- PathChoice: CCW(1)

Z axis

40

30

Target point
(40,120,35)

10 40 80 120
0 Y axis

Center point Linear

(40,80,0) interpolation line
40

60
70
Start point Circular interpolation
(65,40,0) Circular operation
Xaxis interpolation line

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8.4.8 Synchronized Operation for Conveyor Belt

In a coordinate-based operation, one of the axes group is designated as the conveyor axis, and the objects moving on the
conveyor in a straight line are tracked.

Z mcs
Z mcs
X mcs
X mcs

Y mcs
Y mcs

ConveyorOrgin

Yconveyor
ObjectPosition

Xconveyor

ConveyorAxis

(1) Setting and disable of the conveyor belt synchronized operation

MC_TrackConveyorBelt function block performs the setting for conveyor belt synchronized operation. It is not directly involved
in operation. After performing the setting for conveyor belt synchronization with MC_TrackConveyorBelt function block,
coordinate system-based motion function blocks where the CoordSystem performed after the setting is set to PCS are
synchronized to the conveyor belt for operation. After completing synchronized conveyor belt operation, to perform PCS
operation which does not perform conveyor belt synchronized operation, the synchronized conveyor belt operation should
be disabled. In order to disable synchronized conveyor belt operation by performing MCS operation or using
MC_TrackConveyorBelt function block, the PCS coordinate system should be reset using MC_SetCartesian function block.

(2) Relevant motion function block

(a) Conveyor belt synchronized setting
Name Description Operatio
n
condition
MC_TrackConveyorBelt Conveyor belt synchronized setting Edge

MC_TrackConveyorBelt
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT ConveyorAxis Busy BOOL
ARRAY[0..5] OF LREAL[ ] ConveyorOrigin Active BOOL
ARRAY[0..5] OF LREAL[ ] ObjectPosition Error BOOL
UINT CoordSystem ErrorID WORD
UINT BufferMode

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(b) Conveyor belt synchronized setting disable (PCS setting)

Name Description Operatio
n
conditio
n
MC_SetCartesianTransform PCS setting Edge

MC_SetCartesianTransform
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL TransX Busy BOOL
LREAL TransY Active BOOL
LREAL TransZ CommandAborted BOOL
LREAL RotAngleA Error BOOL
LREAL RotAngleB ErrorID WORD
LREAL RotAngleC

(3) Conveyor belt synchronized function operation example

The conveyor belt synchronization function begins with setting conveyor synchronization using MC_TrackConveyorBelt
function block. For MC_TrackConveyorBelt function block, enter conveyor axis value at the ConveyorAxis input. Enter the
position from the origin of the robot to the conveyor belt in ConveyorOrigin. Input the position of the work piece from the origin
of the conveyor into ObjectPosition. Once MC_TrackConveyorBelt function block setting is complete,
LS_MoveLinearTimeAbsolute function block where the subsequently applied CoordSystem input is set to PCS is operated in
sync with the conveyor. Synchronized conveyor operation performs an operation of drawing a triangle on a product. After
synchronized conveyor belt operation is completed, execute LS_MoveLinearTimeAbsolute function block where the
CoordSystem is set to MCS to return to the previous status where the conveyor work is not yet performed.

X mcs

Y mcs

Yconveyor
InitTCP(-240,0,-380) Trans[objectp osition] Rot[objectp osition]
Trans[conveyororigin]

Xconveyor
Rot[Con veyorOrgin]

ConveyorAxis

FunctionBlock CoordSystem Position[] Description

MoveLinearTimeAbsolute1 PCS 0.0, 0 Move to object origin
MoveLinearTimeAbsolute2 PCS 40.0, 0 Draw a triangle1
MoveLinearTimeAbsolute3 PCS 20.36. 64.0 Draw a triangle2
MoveLinearTimeAbsolute4 PCS 0.0, 0 Draw a triangle3
MoveLinearTimeAbsolute5 MCS -240.0, -380 Move the robot to initial position

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운전시작 MC_TrackConveyorBelt LS_MoveLinearTimeAbsolute1 LS_MoveLinearTimeAbsolute2

Execute Done Execute Done Execute Done
1 AxesGroup AxesGroup 1 AxesGroup AxesGroup 1 AxesGroup AxesGroup
4 ConveyorAxis Busy PCS CoordSystem Busy PCS CoordSystem Busy
40,0,0,0,0,
ConveyorOrigin ConveyorOrigin Active 0,0,0,0,0,0 Position Active Position Active
0
ObjectPosition ObjectPosition Error 1 TrajType Error 1 TrajType Error
300 300
PCS CoordSystem ErrorID TrajTime ErrorID TrajTime ErrorID
0 0
Buffered BufferMode Buffered BufferMode Buffered BufferMode
0 TransitionMode 0 TransitionMode
0 TransitionParameter 0 TransitionParameter

LS_MoveLinearTimeAbsolute3 LS_MoveLinearTimeAbsolute4 LS_MoveLinearTimeAbsolute5

Execute Done Execute Done Execute Done
1 AxesGroup AxesGroup 1 AxesGroup AxesGroup 1 AxesGroup AxesGroup
PCS CoordSystem Busy PCS CoordSystem Busy MCS CoordSystem Busy
20,36.64,0,0,0,0 Position Active 0,0,0,0,0,0 Position Active -240,0,-380,0,0,0 Position Active
1 TrajType Error 1 TrajType Error 1 TrajType Error
300 300 300
TrajTime ErrorID TrajTime ErrorID TrajTime ErrorID
0 0 0
Buffered BufferMode Buffered BufferMode Buffered BufferMode
0 TransitionMode 0 TransitionMode 0 TransitionMode
0 TransitionParameter 0 TransitionParameter 0 TransitionParameter

(4) Restrictions
Conveyor belt synchronization cannot be set in the case of the following errors.
• Value other than 2 is set in CoordSystem and performed (Error Code: 0x20BC)
• Axis set in ConveyorAxis is not connected (Error Code: 0x20C3)
• The unit of operation parameter of the axis set in ConveyorAxis is not mm/inch(Error Code: 0x20C2)
• Axis set in ConveyorAxis is not set as the infinite running repeat operation (Error Code: 0x20C6)
• Axis set in ConveyorAxis is the component axis in the applicable axis group (Error Code: 0x20C1)
• In case there is an axis which is in the origin indetermination state among configuration axes (error code: 0x20B0)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20BA)
• Target position not reachable by coordinate system operation (Error code: 0x20C7)
(If 0x20C7 error occurs, jog operation, MCS coordinate system operation, and axis operation can be performed to resume
operation after leaving the error position.)

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8.4.9 Synchronized Operation for Rotary table

In a coordinate-based operation, one of the axes group is designated as the rotary axis, and the objects moving on the rotary
table are tracked.
Z mcs
Y mcs

Zpcs
X mcs

Zrotary

X pcs
ObjectPosition

RotaryOrgin Xrotary

(1) Setting and disable of the rotary table synchronized operation

MC_TrackRotaryTable function block performs the setting for rotary table synchronized operation. It is not directly involved in
operation. After performing the setting for rotary table synchronization with MC_TrackRotaryTable function block, coordinate
system-based motion function blocks where the CoordSystem performed after the setting is set to PCS are synchronized to
the rotary table for operation. After completing synchronized rotary table operation, to perform PCS operation which does
not perform rotary table synchronized operation, the synchronized rotary table operation should be disabled. In order to
disable synchronized rotary table operation by performing MCS operation or using MC_TrackRotaryTable function block, the
PCS coordinate system should be reset using MC_SetCartesian function block.

(2) Relevant motion function block

(a) Rotary table synchronized setting
Name Description Operatio
n
condition
MC_TrackRotaryTable Rotary table synchronized setting Edge

MC_TrackRotaryTable
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT RotaryAxis Busy BOOL
ARRAY[0..5] OF LREAL[ ] RotaryOrigin Active BOOL
ARRAY[0..5] OF LREAL[ ] ObjectPosition Error BOOL
UINT CoordSystem ErrorID WORD
UINT BufferMode

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(b) Rotary table synchronized setting disable (PCS setting)

Name Description Operatio
n
conditio
n
MC_SetCartesianTransform PCS setting Edge

MC_SetCartesianTransform
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
LREAL TransX Busy BOOL
LREAL TransY Active BOOL
LREAL TransZ CommandAborted BOOL
LREAL RotAngleA Error BOOL
LREAL RotAngleB ErrorID WORD
LREAL RotAngleC

(3) Rotary table synchronized function operation example

The rotary table synchronization function begins with setting rotary synchronization using MC_TrackRotaryTable function block.
For MC_TrackRotaryTable function block, enter rotary axis value at the RotaryAxis input, enter the rotary table center position
from the robot's origin point at the RotaryOrigin. Enter the position of the product origin point from the rotary table center point
at the ObjectPosition input. Once MC_TrackRotaryTable function block setting is complete, LS_MoveLinearTimeAbsolute
function block where the subsequently applied CoordSystem input is set to PCS is operated in sync with the rotary.
Synchronized rotary operation performs to track the object with moving to Z positive direction and Z negative direction. After
synchronized rotary table operation is completed, execute LS_MoveLinearTimeAbsolute function block where the
CoordSystem is set to MCS to return to the previous status where the rotary work is not yet performed.

FunctionBlock CoordSystem Position[] Description

MoveLinearTimeAbsolute1 PCS 0.0, 0 Move to object center
MoveLinearTimeAbsolute2 PCS 0.0, -30 Track the Object 1
MoveLinearTimeAbsolute4 PCS 0.0, 30 Track the Object 2
MoveLinearTimeAbsolute5 MCS 0.0, -380 Move the robot to initial position

운전시작 MC_TrackRotaryTable LS_MoveLinearTimeAbsolute LS_MoveLinearTimeAbsolute

Execute Done Execute Done Execute Done
1 AxesGroup AxesGroup 1 AxesGroup AxesGroup 1 AxesGroup AxesGroup
4 RotaryAxis Busy PCS CoordSystem Busy PCS CoordSystem Busy
RotaryOrigin RotaryOrigin Active 0,0,0,0,0,0 Position Active 0,0,-30,0,0,0 Position Active
ObjectPosition ObjectPosition Error 1 TrajType Error 1 TrajType Error
PCS CoordSystem ErrorID 3000 TrajTime ErrorID 3000 TrajTime ErrorID
Buffered BufferMode Buffered BufferMode Buffered BufferMode
0 TransitionMode 0 TransitionMode
0 TransitionParameter 0 TransitionParameter

LS_MoveLinearTimeAbsolute LS_MoveLinearTimeAbsolute
Execute Done Execute Done
1 AxesGroup AxesGroup 1 AxesGroup AxesGroup
PCS CoordSystem Busy MCS CoordSystem Busy
0,0,-30,0,0,0 Position Active 0,0,-380,0,0,0 Position Active
1 TrajType Error 1 TrajType Error
3000 TrajTime ErrorID 3000 TrajTime ErrorID
Buffered BufferMode Buffered BufferMode
0 TransitionMode 0 TransitionMode
0 TransitionParameter 0 TransitionParameter

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(4) Restrictions
Rotary table synchronization cannot be set in the case of the following errors.
• Value other than 2 is set in CoordSystem and performed (Error Code: 0x20BC)
• Axis set in RotaryAxis is not connected (Error Code: 0x20C3)
• The unit of operation parameter of the axis set in RotaryAxis is not degree(Error Code: 0x20C2)
• Axis set in RotaryAxis is not set as the infinite running repeat operation (Error Code: 0x20C6)
• Axis set in RotaryAxis is the component axis in the applicable axis group (Error Code: 0x20C1)
• In case there is an axis which is in the origin indetermination state among configuration axes (error code: 0x20B0)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20BA)
• Target position not reachable by coordinate system operation (Error code: 0x20C7)
(If 0x20C7 error occurs, jog operation, MCS coordinate system operation, and axis operation can be performed to resume
operation after leaving the error position.)

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8.4.10 Path Operation Function for Coordinate System

The coordinate system path operation function stores operation command information in a specific memory area
and sequentially executes the stored operation commands to indirectly perform coordinate system operations such
as coordinate system linear interpolation operation/circular interpolation operation.
(1) Coordinate system path operation settings
The data of the coordinate system path operation is set using the LS_SetMovePath function block. The path data set in the
LS_SetMovePath is stored in the array variable specified as the PathData input. The array variable specified as input of
PathData should use an array that is large enough to store the coordinate system path data as an input. Since the size of one
step of the coordinate system path data is 96 Bytes, the PathaData should use at least 96 arrays. The sequence of path
operation to be set in Step is specified. In CommandType, the type of command to be operated is designated.(0: None 1:
Coordinate system absolute position linear interpolation operation 2: Coordinate system relative position linear interpolation
operation 3: Coordinate system absolute position circular interpolation operation 4: Coordinate system relative position circular
interpolation operation) Mode input is an input for selecting the path of an arc if circular interpolation is selected in the
CommandType, and you can select the direction of the arc (0: clockwise 1: counterclockwise). Position is an input for setting
the target position, and inputs of the X, Y, Z, A, B and C directions are entered sequentially
The coordinate system path operation is performed using the LS_RunMovePath function block. When the coordinate
system path operation is executed, the path data of steps designated as StartStep and EndStep are sequentially executed.
Even if the EndStep is not reached at the time of path operation, the path operation is terminated if the CommandType value
of the step is set to 0. The step number which is currently being executed during the coordinate system path operation is
displayed via CurStep.

(2) Relevant motion function block

(a) Coordinate system path data setting
Name Description Operatio
n
condition
LS_SetMovePath Coordinate system path data setting Edge

LS_SetMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData PathData ARRAY[] OF BYTE
UINT Step Busy BOOL
UINT CommandType Active BOOL
UINT Mode Error BOOL
UINT CoordSystem ErrorID WORD
ARRAY[0..5] OF LREAL[ ] Positon
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

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(b) Coordinate system path data remove

Name Description Operation
condition
LS_ResetMovePath Coordinate system path data Edge
remove

LS_ResetMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData Busy BOOL
UINT Step Active BOOL
Error BOOL
ErrorID WORD

(c) Coordinate system path data read

Name Description Operation
condition
LS_GetMovePath Coordinate system path data read Edge

LS_GetMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData Busy BOOL
UINT Step Active BOOL
Error BOOL
ErrorID WORD
CommandType UINT
Mode UINT
CoordSystem UINT
Positon ARRAY[0..6] OF LREAL[ ]
Velocity LREAL
Acceleration LREAL
Deceleration LREAL
Jerk LREAL
BufferMode UINT
TransitionMode UINT
TransitionParameter LREAL

(d) Path Operation for Coordinate System

Name Description Operation
condition
LS_RunMovePath Coordinate system path operaton Edge

LS_RunMovePath
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
ARRAY[] OF BYTE PathData Busy BOOL
UINT StartStep Active BOOL
UINT EndStep CommandAborted BOOL
Error BOOL
ErrorID WORD
CurStep UINT

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8.4.11 Interpolation operation blending angle limit function

If you use the interpolation blending function during group or coordinate system operation, you can combine the
operations and continuously operate according to the set method without stopping between the two operations.
On the plane operation trajectory, the angle between the current position and the target position of the next executed
command exists with the target position of the first executed command as the vertex. An example of a plane operation
in which the angle between two operations is 90 degrees and passes through the positions P1  P2  P3 in order
is as follows.

P3

P1
P2
To combine the operations so that the two operations are continuous, the operation that started from the current
position (P1) at the first target position (P2) and went to the target position 1 (P2) stops at an infinite deceleration
speed and starts at the target position 1 (P2). Then, the operation to the target position 2 (P3) starts the operation with
infinite acceleration. In this way, at the position where the two operations are combined, the system is impacted as it
is operated with infinite acceleration/deceleration to maintain the combined speed of the interpolation operation.

P3 P3

P1 P1
P2 P2

When the angle difference between the two operations is small, the magnitude of the shock generated is small, and
the damping of the system itself may seem insignificant.
If a large impact is expected due to the large difference in angle between the two operations, if the interpolation
operation blending angle limit function is used, even if the interpolation operation blending is set for the two operations,
deceleration stops at the expected impact point (P2) and then accelerates operation.
Speed
P2

Time
P1 P3

Speed

Time
P1 P2 P3

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The unit of the allowable angle is ° (degrees, deg) and can be set from 2° to 178°.
If the angle of the two operations is greater than the set allowable angle and the TransitionMode is set to “TMNone”,
it stops at the target point of the first operation and continues the next operation,TMCornerDistance”, the operation
continues after stopping at the start and end points of the arc, respectively.
Interpolation operation blending angle limit function works in group operation and coordinate system operation.
However, when the coordinate system 3D circular interpolation command is combined, the interpolation operation
blending angle limit function does not work.

(1) nterpolation operation blending angle limit function setting

The setting of the interpolation operation blending angle limit function is applied by setting the axis group parameter item.
Name Description Operation
condition
MC_WriteParameter Axis group parameter setting Edge

LS_WriteGroupParameter
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExecutionMode ErrorID WORD

No. Parameter Item Note

Standard 0: Disable, 1: Able
45 Interpolation operation blending angle limit
setting
Standard Interpolation operation blending allowable 2 ~ 178
46
setting angle

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8.4.12 3D Circular Interpolation Operation for Coordinate System

Coordinate system-based circular interpolation operation is performed, where the TCP moves in a circular trajectory on the 3D
plane using the designated axis in the axes group. There are three kinds of methods for circular interpolation such as midpoint
method that passes through the position specified in auxiliary point, center point method that considers the position specified in
auxiliary point as center point and radius method that takes the value specified in auxiliary point as the radius of an arc depending
on ‘CircMode’ settings and auxiliary points. To stop the current interpolation control use MC_GroupHalt or MC_GroupStop motion
function block.
(1) EndPoint/AuxPoint
In case of coordinate system circular interpolation control, enter the Px,Py,Pz of TCP to EndPoint/AuxPoint. The RotA, RotB,
RotC values, which determine the TCP posture, is not entered, instead maintaining the values at the start position.

(2) Circular interpolation with middle point designation form.

(a) Circular interpolation is executed from starting position to target position through midpoint position set in auxilia
ry point.
(b) It determines the plane on which 3D circular interpolation will be performed with the starting position, midpoint,
and target position.
(c) Movement direction is decided automatically depends on set target position and auxiliary point of circular interp
olation.

Y Axis
Midpoint

Start position

Target position

X Axis

(d) Restrictions
Circular interpolation control using mid-point specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code:
0x20A4)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)

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(e) Operating Pattern

Start position:(0.0, 0.0, 0.0) Start position:(0.0, 0.0, 0.0)
Target position:(120.0, 0.0, 0.0) Target position:(120.0, 0.0, 0.0)
Midpoint position:(60.0, 60.0) Midpoint position:(60.0, 42.4561, 42.45641)
CircMode: Midpoint(0) CircMode: Midpoint(0)
Y axis

Y axis

Midpoint position
(60, 60,0)

Midpoint position
(60, 42.42641,42.42641)

Start position
Target position
(0, 0,0)
(120, 0,0)
X axis
Start 0
20 100
position Target position
(0, 0,0) (120, 0,0)
X axis
0 20 100

Z axis

Start position:(0.0, 0.0, 0.0) Start position:(0.0, 0.0, 0.0)

Target position:(120.0, 0.0, 0.0) Target position:(120.0, 0.0, 0)
Midpoint position:(60.0, 0, 60.0) Midpoint position:(60.0, -60.0, 0.0)
CircMode: Midpoint(0) CircMode: Midpoint(0)
Y axis

Y axis

Start position Target position

(0, 0,0) (120, 0,0)
X axis
0 20 100

Start position
Target position
(0, 0,0)
(120, 0,0)
X axis
0
20 100

60
Z axis Midpoint position
(60, 0, 60)

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(3) Circular interpolation with center point designation form

(a) Circular interpolation is performed by starting at the start position, and reaching the target position in a circular
trajectory of which the diameter is the distance to the designated center point.
(b) It determines the plane on which 3D circular interpolation will be performed with the starting position middle poi
nt and target position. The starting position and the center point target position cannot be set to be located i
n a straight line.
(c) The movement direction is determined by the direction set in “PathChoice” of the motion function block.
▪ 0:「CW」 - perform circular interpolation in the clockwise direction from the start position.
▪ 1:「CCW」- perform circular interpolation in the counter-clockwise direction from the start position.
Center point, CW Center point, CCW

Y axis Y axis
Target
Operation by circular interpolation position
Target position

Operation by circular
interpolation

Start
position
Center point diameter Center of
of circle circular
Start
diameter position

X axis
X axis

Homing Homing

(d) Restrictions
Circular interpolation control using center point specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code:
0x20A4)
• In case start position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)

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(e) Operating Pattern

Start position:(0.0, 0.0, 0.0) Start position:(150.0, 0.0, 0.0)
Target position:(150.0, 0.0, 0.0) Target position:(0.0, 0.0, 0.0)
Auxiliary position:(100.0, 100.0, 0.0) Auxiliary position:(100.0, 100.0, 0.0)
CircMode: Center Point(1) CircMode: Center Point(1)
PathChoice: CW(0) PathChoice: CW(0)
Y axis Y axis

Auxiliary Auxiliary
position(100,100,0) position(100,100,0)
100 100

X axis
X axis
0 0 100
100 150 150

Start position:(0.0, 0.0, 0.0) Start position:(0.0, 0.0, 0.0)

Target position:(150.0, 0.0, 0.0) Target position:(150.0, 0.0, 0.0)
Auxiliary position:(100.0, 100.0, 0.0) Auxiliary position:(100.0, 100.0, 0.0)
CircMode: Center Point(1) CircMode: Center Point(1)
PathChoice: CW(0) PathChoice: CCW(1)
Z axis
Z axis

Auxiliary Auxiliary
position(100, 0, 100) position(100, 0, 100)
100 100

Target position(150, 0,
0) X axis
X axis
0 100 0 100
150 150

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(4) Circular interpolation with radius designation form

(a) Starts operation from the starting position and performs circular interpolation up to the target position along the
trajectory of the arc whose radius is the length value of the vector set at the circular interpolation auxiliary p
oint. The plane to perform circular interpolation is determined according to the vector set at the auxiliary point.
(b) In circular interpolation of radius specification method, the target position cannot be set the same as starting p
osition.
(c) The auxiliary point represents the vertical vector of the arc, and the vector value is set according to the right-
hand rule. The length of the vector represents the radius.

Y axis

Start
position

Target
position
(EndPoint)

Diameter
(AuxPoint)

X axis
(d) The movement direction and the size of the arc are determined by the direction set in the absolute position c
oordinate system circular interpolation operation (MC_MoveCircularAbsolute3D), the relative position coordinate s
ystem circular interpolation operation (MC_MoveCircularRelative3D), or “PathChoice” of the motion function bloc
k.
(e) Restrictions
Circular interpolation control by radius specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)

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(f) Operating Pattern

Start position:(0.0, 0.0, 0.0) Start position:(0.0, 0.0, 0.0)
Target position:(120.0, 0.0, 0) Target position:(120.0, 0.0, 0)
Auxiliary position:(0.0, 0.0, 60.0) Auxiliary position:(0.0, -42.42641, 42.42641)
CircMode: Center Point(2) CircMode: Center Point(2)
PathChoice: CW(0) PathChoice: CW(0)
Y axis

Y axis

Auxiliary
position
(60, 60,0) Auxiliary position
(60, 42.42641,42.42641)

Start
position Target position
(0, 0,0) (120, 0,0)
X axis
0
Start 20 100
position Target position
(0, 0,0) (120, 0,0)
X axis
0 20 100

Z axis

Start position:(0.0, 0.0, 0.0) Start position:(0.0, 0.0, 0.0)

Target position:(120.0, 0.0, 0) Target position:(120.0, 0.0, 0)
Auxiliary position:(0.0, -60.0, 0.0) Auxiliary position:(0.0, 0.0, -60.0)
CircMode: Center Point(2) CircMode: Center Point(2)
PathChoice: CW(0) PathChoice: CW(0)
Y axis

Y axis
(60, 60,0)
Start
position Target position
(0, 0,0) (120, 0,0)
X axis
0 20 100

Start
position Target position
(0, 0,0) (120, 0,0)
X axis
0
20 100

Auxiliary position
(60, 0,60)

Z axis

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(5) Relevant motion function block

(a) Absolute position coordinate system 3D circular interpolation operation
Name Description Operation
condition
MC_MoveCircularAbsolute3D Absolute position 3D circular Edge
interpolation operation

MC_MoveCircularAbsolute3D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

(b) Incremental position coordinate system 3D circular interpolation operation

Name Description Operation
condition
MC_MoveCircularRelative3D Incremental position 3D circular Edge
interpolation operation

MC_MoveCircularRelative3D
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
UINT CircMode Busy BOOL
LREAL[ ] AuxPoint Active BOOL
LREAL[ ] EndPoint CommandAborted BOOL
UINT PathChoice Error BOOL
LREAL Velocity ErrorID WORD
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT CoordSystem
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter

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8.4.13 Coordinate system operation maximum acceleration limit function

The maximum acceleration limit function of coordinate system operation is when the operation exceeding the
maximum acceleration set for each axis is performed according to the driving path when the BufferMode is set to
Blending and the coordinate system operation is continuously performed, It is a function to operate by limiting the
speed of coordinate system operation so as not to exceed the maximum acceleration. When the coordinate system
operation maximum acceleration limit function is not used If the coordinate system operation is performed
continuously at the same speed along the path of P1 to P3 as shown below, the speed at the point P2 is kept constant,
but the maximum acceleration limit function of the coordinate system operation is not used. In operation in this state,
deceleration is performed in the P2 section so as not to exceed the maximum acceleration of the axis.

Speed
P2

P3 Time
P1 P3

Speed
P1 P2
P2 Time
P1 P3

(1) Coordinate system operation maximum acceleration setting

The maximum acceleration limit of the coordinate system operation is applied by setting the axis parameter items of the
coordinate system components. Coordinate system operation maximum acceleration setting / coordinate system operation
maximum deceleration setting value of axis parameter can be set separately, when it is set to 0, it is set to not use the maximum
acceleration limit function of the coordinate system operation.
Name Description Operation
condition
MC_WriteParameter Axis Parameter Setting Edge

MC_WriteParameter
BOOL Execute Done BOOL
UINT Axis Axis UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExecutionMode ErrorID WORD

No. Parameter Item Note

Coordinate Systems Operation maximum 0 or Long real(LREAL) Positive number
48
Standard allowable acceleration
setting Coordinate Systems Operation maximum 0 or Long real(LREAL) Positive number
49
allowable deceleration

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8.4.14 Coordinate system operation look ahead function

The coordinate system operation look-ahead function is used when the BufferMode is set to Blending in the
coordinate system operation and continuous coordinate system operation is performed,it is a function to determine
whether the current operation is accelerated/decelerated by judging the movement distance/speed/acceleration/jerk
of the next command executed in Buffered. If the operation speed is set at a speed higher than the movement
distance and acceleration/deceleration in the P1~P4 section without using the look-ahead function of the coordinate
system and continuous operation is performed, the deceleration section is lower than the deceleration in the last
P3~P4 section. It is short, so there may be a problem that the deceleration cannot be sufficiently slow. If you use the
coordinate system look-ahead function, you can solve the problem that acceleration/deceleration cannot be
performed because there is not enough moving distance to perform acceleration/deceleration when a short distance
is set at a high speed during coordinate system operation and continuous operation is performed.

P1 P4
P2 P3
P3
Speed

P2

Time
P1 P4

Speed

P2 P3

Time
P1 P4

(1) Coordinate system operation look ahead setting

The coordinate system operation look-ahead setting is applied by setting the axis group parameter item.
Name Description Operation
condition
MC_WriteParameter Axis group parameter setting Edge

LS_WriteGroupParameter
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExecutionMode ErrorID WORD

No. Parameter Item Note

Standard Coordinate system operation look ahead 1~10
42
setting settings

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8.4.15 Coordinate system operation output filter function

Coordinate system operation output filter function sets a filter on the output of coordinate system operation, it is a
function to perform smoother operation by alleviating the acceleration shock generated on the shaft. By using the
coordinate system operation output filter function, it reduces the impact and noise that are added to the axis when
performing the coordinate system operation. If the coordinate system operation output filter function is used, the set
target position may not be passed because the operation of the vertex trajectory where the acceleration shock occurs
is corrected in a round shape. As the set coordinate system operation output filter time constant increases, the degree
of roundness of the vertex trajectory also increases.

(1) Coordinate system operation output filter setting

Coordinate system operation output filter setting is applied by setting the axis group parameter item. If set to 0, it is set to not use
the coordinate system output filter function.

Name Description Operation

condition
MC_WriteParameter Axis group parameter setting Edge

LS_WriteGroupParameter
BOOL Execute Done BOOL
UINT AxesGroup AxesGroup UINT
INT ParameterNumber Busy BOOL
LREAL Value Error BOOL
UINT ExecutionMode ErrorID WORD

No. Parameter Item Note

Standard 0 ~ 100ms
43 Coordinate system output filter function.
setting

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8.5 FoE (File Access over EtherCAT) Function

8.5.1 Overview of FoE Function

FoE is a function that supports firmware download from the motion controller to the slave which is in bootloader state through the
EtherCAT network as a simple file access protocol provided by EtherCAT communication. In order to use the FoE function, both master
and slave should support the FoE protocol. Therefore, it is necessary to check whether the FoE is supported prior to using the function.

8.5.2 FoE Download

The slave operates as a state machine depending on the functions it actually supports. Since the FoE function is supported only in
Boot (Bootstrap) mode, which is the bootloader state, the salve state should be converted to the Boot mode in order to use the FoE
function. If the motion controller performs a network connection with full servo connection command, the state of all the connected slaves
will be changed from Init to Op (Operational) mode. Therefore, the mode should be switched in the order of Op->Init->Boot to switch from
the Op mode to the Boot mode. The FoE download is executed while the Boot mode is running. After the FoE download is completed,
you should perform a mode switch to Boot->Init again
Init

Bootstrap
Pre-Operational
(optional)

Safe-Operational

Operational

(1) StateMachine setting

The StateMachine setting is executed by selecting the slave in a project tree while the slave is connected, the Shortcut
Menus>> Registered Information and the Online Service tab from the slave information dialog box. The current slave’s
StateMachine state and the entered requests are displayed on the screen. Since the Bootstrap is not supported depending on
the slave in most cases, it is necessary to check whether the slave supports the Bootstrap mode. If the Bootstrap mode is set
in the slave that does not support the Bootstrap mode, it may cause malfunction.

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(2) file download

Download a file using the FoE protocol. FoE download can be executed when the StateMachine state is in Boot model.
The procedures for downloading the FoE files may vary depending on the slave.

1) Please refer to the salve instruction manual. Change OpMode to Boot and click the Download button in the FoE to start
the download.

2) Select the file you want to download from the open dialog box.

3) Enter the password (number) in the password confirmation dialog box.

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4) Select the OK button to download the file.

5) When the download is completed, change the StateMachine state to Init.

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8.6 CAM data function expansion

8.6.1 Cam Data expansion overview

Camp profile can be created by editing cam profile of XG-5000 or LS_WriteCamData and LS_GenerateCamData of function
block. Previously, the number of cam profiles could be up to 32 and the number of cam points could be up to 32,768. In the Cam
Profile and Cam Point Expansion Update Standard, 100 cam profiles and 65,536 cam points are possible. This cam data
extension chapter describes the basic guide for cam profile creation based on the extension standard and the mutual compatibility
of the previous/extended XMC controller and XG-5000. You can check the cam profile creation method in XG5000 and the
creation method using function block instructions in Chapters 6, 7, 8 of this manual and in the XG5000 manual. That is, it is the
same as the way it was previously worked. Therefore, it describes the range of parameters related to profile creation and
compatibility with previous standards. Therefore, it describes the range of parameters related to profile creation and compatibility
with previous standards.

8.6.2 Cam Data expansion

(1) Cam profile expansion
For camp profile, select the cam table from the cam data of the project tree, right-click and select Add Item -> camp profile to
add the camp profile. Previously, up to 32 camp log files could be added.

However, up to 100 cam profiles can be created in the cam table extended update standard.

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In the case of commands, up to 32 cam table IDs can be entered for LS_WriteCamData/LS_GenerateCamData. However,
in the new standard, up to 100 can be entered.

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(2) Cam Point Expansion

Cam point is added by selecting the cam block from the cam data of the project tree, right-clicking the mouse, and selecting
Add Item -> Cam Block. If you select the applied cam block and open the window, it appears as shown in the figure below.
Previously, up to 32768 camp points could be added.

Up to 65,536 cam points can be input in the extended update standard.

In the case of commands, LS_WriteCamData/LS_GenerateCamData can input up to 32,768 cam points. However, in the
new standard, up to 65,536 can be entered.

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8.6.3 Cam data extension function compatibility check (XG5000 / XMC)

The standards defined to maintain compatibility between the XG5000 and XMC controllers of the updated standard according to
the cam data extension and the XG5000 and XMC controllers of the standard before the update are as follows. Depending on
the total number of four cases, the range implemented when creating a cam profile is different, and the number of cases is as
follows. In 8.6.3, the scope of function implementation according to the number of four cases is described.

(1) XG5000 (Expansion specifications) / XMC(Expansion specifications)

The first case is when a cam profile is created using the updated XG5000 as an extension standard and read/write is
performed on the updated XMC. As shown in the figure in 8.6.2, in the extended specification XG5000, up to 100 profiles can
be created and read/write to the extended specification XMC controller is possible. However, to maintain compatibility when
writing by creating cam profiles and cam points of less than 32, 32,768 cam points, the extended standard XMC controller
makes it possible to read from the previous standard XG5000. On the other hand, in case of exceeding 32, 32,768, writing is
performed and then reading is attempted by executing the previous standard XG5000, the written cam data cannot be read.

(2) XG5000 (Expansion specifications) / XMC(Previous specifications)

When performing read/write to XMC of the previous standard by creating a cam profile in XG5000 of extended standard,
XG5000 checks the updated version so that less than 32, 32,768 cam profiles and cam points can be read and written. When
writing more than 32, 32,768 cam profiles and cam points, XG5000 cannot create more than cam data by itself.

(3) XG5000(Previous specifications) / XMC(Expansion specifications)

In XG5000 of the previous standard, it is possible to create up to 32, 32,768 cam profiles and cam points as before. First, when
reading/writing to the extended standard XMC, reading is the same as described in (1) at the end of the second half. In other
words, it is possible to read from the previous standard XG5000 only when the cam profiles and cam points of 32, 32,768 or
less are written to the extended standard XMC. In the case of writing, it is possible to write cam profiles and cam points of up
to 32, 32,768 or less, as in the existing method. In addition, if 32 or less cam profiles and 32,768 cam points are written in the
extended standard XMC in the extended standard XG5000, it can be read in the previous standard XG5000 On the other
hand, if you try to read from the previous standard after writing 32/32768 or more in the extended standard XG5000 to the
extended standard XMC, it cannot be read and the profile is not created in the XG5000 cam profile tree.

(4) XG5000 (Previous specifications) / XMC (Previous specifications)

As before, up to 32, 32,768 cam profiles and cam points can be created, and read/write is also possible according to the
existing number.

Additionally, regardless of the number of cam profiles, if the cam table ID value is 32 or less, the previous standard is applied,
and if it is 33 or more, it is applied as the expanded standard. For example, if only one cam table ID value of 50 is written in
XG5000 of extended standard, cam information written in XMC cannot be read in XG5000 of previous standard.

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8.6.4 Cam data extension function compatibility check (SD memory card/XG5000/ XMC)
How to use the SD memory card is described in detail in Chapter 12 SD Additional Functions. Please refer to Chapter 12 for how
to use it. Even in the case of SD memory cards, the range of use of the import/export function varies according to the applied
standards of XG5000 and XMC.
When trying to save the contents of XMC controller or XG5000 to SD card, the contents are as follows.
If the number of created cam profiles exceeds the last cam table ID value of 32 in the extended standard, that is, from 33, the
backup is made so that only XG5000 of the extended standard can be read.
If you try to open the backed-up cam profile data with a cam table ID value of 33 or higher in XG5000 of the previous standard,
it will fail and an alarm window will appear as shown in the figure below.

Conversely, in case of backing up the contents of which cam profile values of which the number of cam profiles are less than
or equal to 32 in the previous standard and extended standard, it is possible to open both in XG5000 of the previous/extended
standard.
Taken together, the number of cases is:
case 1. Write a cam profile whose number of cam profiles is less than or equal to 32 in the XG5000 of the previous standard
-> Download to the XMC controller of the previous/extended standard -> Attempt to back up to the memory card -> Can be
opened in the XG5000 of the previous/extended standard
case 2. Write a cam profile whose number of cam profiles is less than or equal to 32 in the XG5000 of the expansion standard
-> Download to the XMC controller of the previous/extended standard -> Attempt to back up to the memory card -> Can be
opened in the XG5000 of the previous/extended standard
case 3. Write a cam profile whose number of cam profiles is more than 33 in the XG5000 of the expansion standard ->
Download to the XMC controller of the extended standard -> Attempt to back up to the memory card -> Can be opened in the
XG5000 of the extended standard
case 4. Write a cam profile whose number of cam profiles is more than 33 in the XG5000 of the previous standard -> Download
to the XMC controller of the extended standard -> Attempt to back up to the memory card -> Can not be opened in the XG5000
of the extended standard
case 5. Write a cam profile whose number of cam profiles is less than or equal to 32 in the XG5000 of the previous standard
-> Download to the XMC controller of the previous/extended standard -> Attempt to back up XG5000 contents to memory
card -> Can be opened in the XG5000 of the previous/extended standard
case 6. Write a cam profile whose number of cam profiles is less than or equal to 32 in the XG5000 of the expansion standard
-> Download to the XMC controller of the previous/extended standard -> Attempt to back up XG5000 contents to memory
card -> Can be opened in the XG5000 of the previous/extended standard
case 7. Write a cam profile whose number of cam profiles is more than 33 in the XG5000 of the expansion standard ->
Download to the XMC controller of the previous/extended standard -> Attempt to back up XG5000 contents to memory card
-> Can be opened in the XG5000 of the extended standard
case 8. Write a cam profile whose number of cam profiles is more than 33 in the XG5000 of the expansion standard ->
Download to the XMC controller of the previous/extended standard -> Attempt to back up XG5000 contents to memory card
-> Can not be opened in the XG5000 of the extended standard

Additionally, regardless of the number of cam profiles, if the cam table ID value is 32 or less, the previous standard is applied,
and if it is 33 or more, it is applied as the expanded standard. For example, if only one cam table ID value is set to 50, the SD
card is recognized as an extended standard and operates in the manner described in the above case.

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8.7 CAM block Functions

8.7.1 Overview of CAM block Function

The cam block function creates a cam profile by setting the cam curve, connection speed, connection acceleration, and connection jerk.
In the cam block function, various cam curves such as StraightLine/ModifiedSine/ModefiedTrapezoid/DoubleHarmonic/TripleHarmonic
can be set, up to 100 blocks can be added, 360 nodes can be set per block, and a total of 6000 nodes can be set. You can create a cam
profile on the cam block setting screen, edit the cam block while driving, and create a camp profile file from the cam block. Cam block
cannot be used for CAM operation alone. To perform cam operation with cam block, you must go through the process of creating a camp
profile.

8.7.2 Cam block setting enable

1) Cam block adding
To add a cam block, select the cam block from the cam data of the project tree, right-click the mouse, and select Add Item > Cam
Block to add the cam block. Up to 100 cam blocks can be added.

2) CamBlock-Property

Cam operation speed: Input the operation speed of the main axis of the cam block. The entered speed value is used to
calculate the maximum speed/maximum acceleration/maximum jerk of the sub axis.
Maximum speed of sub axis: Enter the maximum speed of sub axis. The maximum speed value of the sub axis is used to
check whether the maximum speed value is exceeded when setting the cam block and does not affect the creation of the

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camp profile.
Maximum speed of sub axis: Enter the maximum speed of sub axis. The maximum acceleration of the sub axis is used to
check whether the maximum acceleration is exceeded when setting the cam block and does not affect the creation of the
camp profile.
Maximum jerk of sub axis: enter the maximum jerk of sub axis. The jerk value of the sub axis is used to check whether the jerk
value is exceeded when setting the cam block and does not affect the creation of the camp profile.
3) CamBlock Node Data
Cam block data is composed of each node data. One node data consists of main axis position/sub axis position/cam
curve/connection speed/connection acceleration/connection jerk/number of points/interpolation type. Up to 360 nodes can be
added to the cam block.

Main axis position: Set the main axis position of the camp profile to be created.
Main axis position: Set the main axis position of the camp profile to be created.
Sub axis position: Set the sub axis position of the camp profile to be created.
(Linear/ModifiedSine/ModifiedTrepezoid/…/5thCurve/7thCurve)
Connection speed: Set the speed of the end of the current node. To set the connection speed, the cam curve of the current
node or the next node must be set to a cam curve that can set the connection speed, and a check box must be set when
setting.
Connection Acceleration: Set the last acceleration of the current node. To set the connection acceleration, the cam curve of
the current node or the next node must be set to a cam curve that can set the acceleration speed, and a check box must be
set when setting.
Connection jerk: Set the last jerk of the current node. To set the connection jerk, the cam curve of the current node or the next
node must be set to a cam curve that can set the connection jerk, and a check box must be set when setting.
Number of points: Set how many cam points to create the current node when creating a cam profile for cam blocks.
Interpolation type: Set the interpolation type of the camp profile. (Linear/Qubic)

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4) Cam curve
There are a total of 12 types of cam curves that can be set in the cam block function. The characteristics of each cam curve
are as follows.
CamCurve Characteristic curve
0:StraightLine

1:ModifiedSine

2:ModifiedTrapezoid
al

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3:DoubleHarmonic

4:TripleHarmonic

5: THMTG1-3

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6: THMTF1-3

7: THMTF1-3-5

8: TH0J0A

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9: 3rd curve

10: 5th curve

11: 7th curve

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5) Cam block node data adding

If you click the button on the cam block screen, one last node is added.

If you click the button on the cam block screen, one node is added at the selected position.

If you select node data and click the button, the selected node data is deleted.

If you select node data and click the button, the total node data is deleted.
6) Export camp file
In order to perform CAM operation with CAM block data, you must first create a CAM profile from CAM block. The procedure
for exporting camblock to camp file is as follows.

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(1) CAM block setting

(2) Cam profile adding

1
(3) Cam profile export
Select the camp profile file to be created as Camblock and click the Export button.

(4) Check the created cam profile

Open the camp profile to check the created camp profile.

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7) Cam block setting function (command)

Provides functions to read/write/save cam blocks and create camp profile files while driving. To create a camp profile file by setting a
cam block, first set the cam block properties and the number of nodes using the LS_WriteCamBlockProperty function block. After
that, set each node data (main axis position/subordinate axis position/cam curve/number of points, etc.) with
LS_WriteCamBlockNode function block. When the cam block node data setting is completed, the camp profile file is created and
saved from the cam block data in the designated camp profile file using the LS_GenerateCamData function block. For more
information about cam block setting function, refer to Chapter 2 Function Block.

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Chapter 9 NC Control Function

Chapter 9 describes how the motion controller user creates the motion program of the G-code format.
The motion controller can program motions through a kind of scripting language called the G code. Chapter 9 describes the basic
terms and conceptual explanations for the G code programming, and explains how to configure the program. It also describes the
command scripts such as G, M, and F supported by the motion controller.

9.1 NC Commands
9.1.1 NC Command Definition
The motion control is used by the user to move the machine from any position to the desired position at the specified speed or to
control the input / output. At this time, the axis that moves the machine will operate in various ways depending on each control
environment. It is the motion control program that is used to control the movement of various axes, and in the motion controller,
when the G code is used among the control information constituting the motion control program this is called the NC command.

9.1.2 Definition of the Command Character

The NC commands of the motion controller have specific Descriptions for certain alphabetical characters. The types and
Descriptions of reserved character used in NC commands are as follows.

Reserved
Meaning
character
Character set
( Start comment
) End comment
[ Left parenthesis
] Right parenthesis
+,-,*,/ Arithmetic
A(AND), O(OR) Comparison operation
= Assignment operator
0~9 Numeric data
; Block end
# Variable
Address character
X X axis of the XYZ rectangular coordinate system (Primary Axis)
Y Y axis of the XYZ rectangular coordinate system (Secondary Axis)
Z Z axis of the XYZ rectangular coordinate system (Third Axis)
A In the XYZ rectangular coordinate system, the rotation axis parallel to the X axis.
(When it is set to the rotation axis in the parameters setting)
B In the XYZ rectangular coordinate system, the rotation axis parallel to the Y axis.
(When it is set to the rotation axis in the parameters setting)
C In the XYZ rectangular coordinate system, the rotation axis parallel to the Z axis.
(When it is set to the rotation axis in the parameters setting)
U 1st additional linear axis (rotation axis, when it is set to the rotation axis in the parameters
setting)

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Reserved
Meaning
character
V 2nd additional linear axis (rotation axis, when it is set to the rotation axis in the
parameters setting)
W 3rd additional linear axis (rotation axis, when it is set to the rotation axis in the
parameters setting)
S Used to specify the speed of revolution or to make the position command for the spindle
axis
G Preparatory Functions
F Feed rate
M Miscellaneous Functions
S Specify the rotation speed
I Rotational center coordinate value for X-axis circular interpolation
J Rotational center coordinate value for Y-axis circular interpolation
K Rotational center coordinate value for Z-axis circular interpolation
N Statement Number (Sequence Number)
O Used for the same purpose as N
P Used to represent the optional data of Preparatory Functions and Miscellaneous
Functions.
Q Secondary option data representation. Drill’s cutting depth and so on.
R Circle radius
T Tool functions
L Repetition number
H Tool length offset number
Other character
IF Conditional branch operation
GOTO Branch jump
WHILE, DO Loop iteration declaration
END End loop
%, ;, ( ) Comments
/ Optional Block Skip
LE,GE,EQ,LT,GT,NE Compare instructions
SIN, COS, TAN,
ATAN, SQRT, ABS,
Mathematical function
ROUND, AND, OR,
FIX, FUP

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9.1.3 Coordinate System

The coordinate system means the space to be used as a basis for operating the machine. The motion controller uses the right-
handed rectangular coordinate system and supports four modes: machine coordinate system, work coordinate system, local
coordinate system, and relative coordinate system.

[Basic coordinate system]

(1) machine coordinate system

Each machine used for motion control has its own specific position setting, and the coordinate system is set based on
this specific position. This particular position is the "machine origin" of the machine, and the coordinate system based on
this machine origin is the "machine coordinate system". The "machine origin" and its accompanying "machine coordinate
system" differ depending on the machine to which the motion controller is applied. Accordingly, please refer to the
instruction manual of the applicable machine.
Generally, when power is applied and the machine is started, homing is performed first. After homing, the reset machine
position is reset to "0" position and at this time, the machine coordinate system is changed to the origin position. However,
in the case of machinery equipped with the absolute encoder-positioning feedback, the absolute position is maintained
independent of homing.
For more details on setting the machine coordinate system, refer to the G53 command description.

(2) Workpiece coordinate system

The workpiece coordinate system means the coordinate system whose origin is the machining reference point of the
product.
Generally, the origin of the workpiece coordinate system is set by the workpiece coordinate system setting command.
When the workpiece coordinate system is set, since then, the command operates at the new coordinate whose origin is the
machining start point of the product. For the setting (G92) and selection (G54 ~ G59) of the workpiece coordinate system,
please refer to the description section of the commands.

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(3) Local coordinate system

It is called the local coordinate system to set the reference point at any position on the workpiece coordinate system and
make the command when programing with the workpiece coordinate system. It refers to the coordinate system created
newly within the program of the workpiece coordinate.

Machine
coordinate
system

Workpiece coordinate system

[Each coordinate system and offset]

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9.1.4 How to Accelerate/Decelerate Interpolation Operation

The NC control function can set how to accelerate and decelerate operation during cutting feed. A method of acceleration and
deceleration has an acceleration/deceleration before interpolation mode and an acceleration/deceleration after interpolation mode.
According to each mode, the form of acceleration and deceleration zones of an axis in cutting feed varies.

(1) Acceleration and deceleration before interpolation

The acceleration/deceleration before interpolation mode performs operation by calculating the form of acceleration and
deceleration before the cutting feed operation is performed. When the acceleration/deceleration before interpolation mode
performs the cutting feed operation, the position of each axis stops at a command position when the cutting feed ends
because the operation is performed by previously calculating the acceleration and deceleration profiles.

Cutting
operation2

Cutting
operation1

[Speed profiles]

The speed profile of the cutting feed operation can be changed by setting acceleration/ cutting feed deceleration/cutting
feed jerk values in the cutting feed setting of the NC channel parameter.

(2) Acceleration and deceleration after interpolation

The acceleration/deceleration after interpolation mode performs the operation by calculating the form of acceleration and
deceleration while the cutting feed operation is performed. When the acceleration/deceleration after interpolation mode
performs the cutting feed operation, the position of each axis cannot reach a command position when the cutting feed ends
because acceleration and deceleration profiles are calculated during operation. But the acceleration/deceleration after
interpolation mode performs smoother operation in the operation of consecutive cutting feed commands than the
acceleration/deceleration before interpolation mode.

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Cutting
operation 2

Cutting
operation 1

[Speed profiles]
1) The form of acceleration and deceleration in the acceleration/deceleration after interpolation mode
The speed profile of acceleration and deceleration zones can be set by setting the form of acceleration and deceleration of
the cutting feed in the cutting feed setting of the NC channel parameter. 0: Line-type 1: S-type, Two types can be set.

Speed
Speed

Line-type S-type

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2) The time constant of acceleration and deceleration after interpolation

Enter the time of acceleration and deceleration needed to reach the specified speed value after starting the cutting feed. The
time constant of acceleration and deceleration after interpolation sets the time constant of cutting feed acceleration and
deceleration in msec in the setting of the cutting feed of the NC channel parameter.

3) Corner speed limit function

The function is to improve the problem that curvature occurs in a corner when setting the time constant value bigger if using
acceleration and deceleration after interpolation. It provides two modes such as an angle mode and a speed differential mode.
Corner speed limit function in the cutting feed setting of the NC channel parameter 0: Disable 1: Angle mode 2: Speed
differential mode can be set.

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4) Angle mode
If the angle of the specified block is less than the allowed angle, the next block starts to traverse after the speed in a corner is
decelerated up to the setting value of the deceleration speed. In the result, you can get a sharp corner according the setting
value of the deceleration speed.

5) Speed differential mode

If the speed difference between the end point of the specified existing block and the starting point of a new block is greater
than the setting value of the allowed speed difference, the next block starts to traverse after being decelerated up to the
setting value of the deceleration speed. You can get a sharp corner according the setting value of the deceleration speed.

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9.2 Program Configuration

9.2.1 NC Program
The NC program is a file consisting of the commands with control information about the axis. NC program can be added to 'Motion
data - NC program' in XG5000. The NC program is used in the form of ‘program name.extension’ when saving the NC program as a
file, and the file name extension of the NC program used is ‘nc’. The NC program is divided into two types, "main program" and "sub
program", depending on the nature of the file.
The name of the "main program" can be assigned by a user with any name. For example, such as "main.nc" or "main control .nc",
any name can be applied in English or Korean. The "subprogram" can be named using the four-digit numbers. (Eg: 1234) The
"subprogram" can be disabled as needed, and the nested call is allowed up to 9 levels.

(1) Main program

The main program is the program that controls the whole flow of the motion program. The name of the main program can be
written in any name and in the case of the nested call, there are 10 levels based on the main.
(2) Sub program
The sub program is executed by the main program’s call, and the only 4-digit numbers can be applied to the program file
name. (0000 to 9999) The extension is the "nc" which is the same as the main program. The subprogram can be called directly
from the main program so it must be written in numeric names only and distinguished by them.

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9.2.2 NC Program Configuration

(1) Basic configuration of the program
The NC program is created with various instructions (G / M codes and instructions) that can be recognized by the motion
controller and it consists of a set of blocks with the information for each operation command.
The NC program is written in the ST language. If the character that is not specified by the NC command (G / M codes and
instructions) is used, an error occurs. The program starts with the first block one by one.

Program

Block
Block
Block
Program direction
Block
Block
..
.
Block

(2) Configuration of Blocks

It consists of the basic NC commands and command information for driving the machine.
One block corresponds to one line of the program. The maximum number of the characters that can be used in a block is 300,
including the space characters. A maximum of 10 NC commands can be used per one block. When the number of characters
available in one block or the limit of the NC command is exceeded, an error occurs.

N~~ G~~ X~.~ Y~.~ Z~.~ F~.~ (M/S/T …)

Statement Preparation command Command information Auxiliary command
Number (G/M codes and (Command information of the (G/M codes and
commands) coordinate) commands)

The blocks of the NC program are normally input as shown in the table above. Unless there is a particularly limited notation in
the same block, the order of each motion command does not matter. However, it is executed in the order of command, and for
the Modal command, it continues to run until another NC command is made.
At the head of each block, there is a Statement Number which contains the motion control’s sequence information. The
Statement Number is often referred in the GOTO and CALL instructions, and does not have to be used unless it is necessary.
The Statement Number can also be written alone in a block.
The command information depends on the preparatory commands (G / M codes and instructions) used earlier. Although you
do not use the command information, no error will occur. However, even if you need the command information, the preparatory
commands that do not use the command information will be ignored.
The auxiliary commands (G / M codes and instructions) are used with the preparatory commands to further refine the
operating information of the preparatory commands.

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(3) The main program and the subprogram

Basically, you can configure and control the NC program with the main program only. However, if a series of identical
commands or control intervals are repeated, you can make such parts into the subprogram and call it in case of necessity.
When the subprogram is called, the details of the subprogram will run thereafter. When all commands of the subprogram have
been executed, the details of the main program will run again.

Main program 'main' Sub program '1111'

. .
. .
CALL P1111 .
.
.
CALL P1111
. Sub program '2222'
.
CALL P2222 .
. .
. .

(4) Call multiplicity of the subprogram

The main program can call a subprogram, and the subprogram can call another subprogram. If calling the subprogram for
the first time is the Call Step 1, the NC program of the motion controller can be called up to 9 steps as shown below. If the
subprogram call multiplicity goes beyond step 9, an error occurs.
The motion controller's NC program supports the multiple calls up to 9 steps but it does not allow "recursive calls of the
subprogram" that call the subprogram itself or "recursive calls" that may lead to call deadlock between subprograms. If the
subprogram is called in this way, an error will occur.

'main' '1111' '2222' '3333' '9999'

……

CALL P1111 CALL P2222 CALL P3333 CALL P4444

……

……
Step 1 call Step 2 call Step 3 call Step 4 call Step 9 call

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(5) Call and return of the subprogram

The subprogram is called by M98. The procedures for call and return of the subprogram are as follows.

M98 P_ Q_ R_ L_
M99 P_

M98: Call of the subprogram

M99: End of the subprogram
P _: For M98, the name of the subprogram (_ is a 4-digit number.)
For M99, the statement Number of the block to return
Q _: Statement Number of the start block of the subprogram (if omitted, it starts from the first block).
R _: Statement Number of the end block of the subprogram (if omitted, it proceeds until M99.)
L _: Repeat count of the subprogram calls

In addition to M98, you can call the reserved sub program using the macro program calling M code set in NC channel
parameter. This method can be used only in the main program, and when used in the subprogram, it operates with the general
M code.

If there is no program to call, or if the syntax or argument is wrong, an error occurs. For alarms occurred, please refer to
Appendix 2‘Error Information & Solutions'.

(6) Repeat of the main program

When M99 is commanded in the main program, the details of the main program can be executed through the repeat mode.
If P_ is not commanded, it is repetitively executed from the first block of the main program. If L_ is not commanded, it runs
repeatedly and infinitely.

M99 P_ L_

M99: Repeat of the main program

P _: Statement Number of the repeated start block
L _: Repeat count of calls

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9.2.3 Data
(1) Data type used in the NC program
The NC program uses the numerical data for each axis command, feed rate command, DWELL command, macro variables,
etc. When each operator is applied, the constant is used directly in the program.
At this time, the range of data type that can be used for the NC program of motion controller is as follows. If the wrong data
range is applied, an alarm will occur. For the location of the alarm information, etc., please refer to Appendix 2, Errors
Information & Solutions'.
Available range of the integer
-2,147,483,648 ~ 2,147,483,647

- Range of expressible real numbers

Can be expressed up to 12 digits including a decimal point and a sign.

(2) Unit
For the numbers used for the NC program, the system of units applied changes depending on whether or not to enter a
decimal point ("."). This depends on how the decimal point check item is set among the NC channel parameters of the motion
controller.

If the parameter is set to "0: Check", the value changes internally, as shown in the following example.
X100  100 um = 100 / 1000.0 = 0.1mm
X100,  100.0 mm = 100 / 1.0 = 100.0 mm

ex)
X10.4  10.4 mm = 10.4 / 1.0 = 10.4 mm
X104  104 um = 104 / 1000.0 = 0.104 mm
The unit conversion specified above is effective only when it is entered directly into the axis’s coordinate information.
If the decimal point check parameter is set to "0: Check", the system of units used for the G04 (TIME) command is as follows.
G04 X1  1 msec = 1 / 1000.0 = 0.001 sec
G04 X1.0  1.0 sec = 1 / 1.0 = 1 sec

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9.2.4 NC program Write

Programs added to ‘Motion Data – NC Program’ in XG5000 can basically be downloaded when the motion controller’s operation
mode is in the stop state. However, the NC program can be downloaded even when the operation mode is in the run state, and there
are some restrictions in this case.

(1) NC program download during RUN.

This is a function to download the NC program created by the user while the motion controller's operation mode is run. In this
case, only ‘NC program’ should be selected in the project write window as follows.

(2) Restrictions
If the user-written NC program is downloaded while the motion controller's operation mode is RUN, there are the following
restrictions depending on the operating conditions.
1) When the NC channel is in automatic operation
- After the NC operation currently in automatic operation is completed, it is changed to the downloaded NC program.
That is, even if the program currently in automatic operation is changed, the changed program does not operate

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immediately. The point in time when the downloaded NC program is applied during run is always after the
automatic operation of the NC channel is finished.
- If the NC program currently being operated is repeated infinitely with the M99 command in the last block of the
program, automatic operation cannot be ended in the normal way,automatic operation is stopped with the
NC_Reset command or the motion controller is changed to 'stop' mode and automatic operation is stopped and
then changed to the downloaded program.
- If the number of repetitions is specified in the NM99 command, automatic operation stops after repeating the
number of repetitions and then the downloaded program is changed.
2) If the NC_LoadProgram command is executed during internal write processing after downloading the NC program
- 0x3605 error occurs.
- Error contents: the program designation command cannot be executed while writing the downloaded NC program
during run.
3) If the NC_CycleStart command is executed during internal write processing after downloading the NC program
- 0x350F error occurs.
- Error contents: the automatic operation start command cannot be executed while writing the downloaded NC
program during run.

Notes
NC program download function during run is supported from the next version onwards.
1. XG5000 - V4.29
2. XMC OS - V1.50

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 Chapter 9 NC Control Function

9.3 NC Commands

The NC command is basically described based on the three types of data: the type of motion to be moved, the target position and
the target speed. The basic formats of the position command and speed command are as follows.

9.3.1 Basic Format of the NC Position Command

The motion controller supports two types of commands; the command method using “X, Y, Z, A, B, C, U, V, W, S”, the command
method using "I, J, K" type

(1) Absolute/relative position specified (X, Y, Z, A, B, C, U, V, W, S)

X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_

X_ Y_ Z_ ~ S_: Command the position of the axis

The position command of the axis, "X_ Y_ Z_ ... "is mainly used to specify the position on the coordinate of the point where
each axis should be finally moved at the time of interpolation or traverse command.

The position of the coordinate you want to move should be specified behind “X, Y, Z, … S”. The number of axes specified with
the G code is limited to 10. The motion controller can control up to 32 axes by motion control but the maximum number of axes
by the NC program is 10 axes and more axes can be controlled by the axis command of the motion control program.
In the case of the absolute command, specify the coordinate value (coordinate value of the end point of feed) of the feed
target point. If it is the relative command, specify the increment value from the current position to the feed target point.

When you specify the position of the coordinate you want to move, the operating mode of the command differs depending on
whether to use the value that includes "." or not ".". Please refer to the position formula in "9.2.3 System of units of data (2) "

G90
G00 X100. Y100, Z100, U100, % Rapid Traverse, X-axis 100, Y-axis 100, Z-axis 100, U-axis 100
G01 X150. Y200
U300,
Z325,
M02

(2) Specify the center point of the arc (I, J, K)

I_ J_ K_

I_ J_ K_: Central point-position command of an arc for circular interpolation

The position command of axis, "I_ J_ K_" is used to command the position of each origin point on the coordinate to the
individual axis when commanding the central point of the arc for circular interpolation.

You can specify the location of the central point of the arc behind "I_ J_ K_".
"I_ J_ K_" must specify the increment value from the current position to the origin.

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When you specify the position of the coordinate, the operating mode of the command depends on whether to use the value
that includes "." or not ".". Please refer to the position formula in "9.2.3 System of units of data (2) "

G90
G02 X100. Y100, I50, J50, % clockwise circular interpolation, X-axis 100, Y-axis 100, Central point(X50, Y50)
M02

The above program shows the traverse target point, X-axis 100, Y-axis 100 and the coordinate of the origin direct the
clockwise circular interpolation with X-axis 50, Y-axis 50.

(3) Speed command (F)

The speed command has the function to instruct the speed of the interpolation command.
If there is no separate speed command, it operates at the basic speed set at the lower limit of the cutting feed among NC
channel parameters.

The speed command is valid for the interpolation command only and has no effect on the rapid traverse command.

F_

: F Speed command

The speed command specifies the operating speed of the interpolation command.
The speed command can be instructed with each interpolation command or instructed independently.
Since the speed command is the modal command, once it is instructed, it is valid for the operations of the interpolation
command until another speed command is made.
In the case of the speed command for linear interpolation, the operating speed is calculated in the same manner as the
speed formula of "9.2.3 System of units of data (2)".
In the case of circular interpolation command, the speed command is calculated as linear velocity in tangential direction.

G90
F5000
G02 X100. Y100, I50, J50, % Clockwise circular interpolation speed: 5000
G01 X400. Y250, Z300, F3500 % Linear interpolation,speed: 3500
M02

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9.3.2 NC Command List

The NC commands (G / M code and other commands) used for the motion controller are as follows.

Classification Program command Function

G00 Rapid positioning control
G01 Linear interpolation feed control
G02 Clockwise circular / helical interpolation
G03 Counter clockwise circular / helical interpolation
G04 Dwell function
G09 Exact Stop
G10 Data set
G15 Cancel polar coordinates
G16 Command polar coordinates
G17 Select the circular interpolation plane (XY plane)
G18 Select the circular interpolation plane (ZX plane)
G19 Select the circular interpolation plane (YZ plane)
G20 Inch input
G21 meter input
G22 Stroke check function ON
G23 Stroke check function OFF
G27 Homing check
G28 automatic homing
G29 Return at the auto-origin
G30 Automatic 2nd, 3rd and 4th homing
G31 Skip function 1
G code command G31.1 Skip function 1
G31.2 Skip function 2
G31.3 Skip function 3
G31.4 Skip function 4
G37 Automatic tool length measurement 1
G37.1 Automatic tool length measurement 1
G37.2 Automatic tool length measurement 2
G37.3 Automatic tool length measurement 3
G37.4 Automatic tool length measurement 4
Tool radius compensation corner circular
G39
interpolation
G40 Cancel compensation of tool diameter
G41 Compensate the tool diameter to the left
G42 Compensate the tool diameter to the right
G43 + Compensate the tool length in the direction of +
G44 - Compensate the tool length in the direction of +
G45 Tool position offset increase
G46 Tool position offset decrease
G47 Tool position offset double increase
G48 Tool position offset double decrease
G49 Cancel compensation of the tool length
G50 Scaling/Mirror image cancel

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 Chapter 9 NC Control Function

Classification Program command Function

G51 Scaling/Mirror image setting
G52 Set the local coordinate system
G53 Select the machine coordinate system
G54 Select the workpiece coordinate system 1
G55 Select the workpiece coordinate system 2
G56 Select the workpiece coordinate system 3
G57 Select the workpiece coordinate system 4
G58 Select the workpiece coordinate system 5
G59 Select the workpiece coordinate system 6
G60 Single direction positioning
G61 Exact Stop Mode
G62 Automatic corner override mode
G63 Tapping mode
Cutting mode (acceleration and deceleration after
G64
interpolation)
G65 Macro call
G66 Macro modal call
G67 Macro modal call cancel
G68 Coordinate rotation
G69 Coordinate rotation cancel
G74 Counter tapping cycle
G80 Fixed cycle cancellation
G81 Drill cycle/Spot drill cycle
G82 Drilling dwell cycle/Counter boring cycle
G84 Tapping cycle
G90 Absolute command
G91 Incremental command
Set the workpiece coordinate system, the max.
G92
speed of the master axis
G94 Feed mode command per minute
G95 Feed mode command per revolution
G96 Constant surface speed control
G97 Constant surface speed control release
G98 Return to initial point at a canned cycle
G99 Return to R-point at a canned cycle
G107 Cylindrical interpolation mode setting
G112 Interpolation mode of the polar coordinate ON
G113 Interpolation mode of the polar coordinate OFF

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 Chapter 9 NC Control Function

Classification Program command Function

M00 Program’s operation is stopped.
M01 Selective stop
M02 PROGRAM END
M03 Forward rotation of the master axis
M04 Reverse rotation of the master axis
M05 Master axis stop
M code
M06 Tool change
M08 Coolant ON
M09 Coolant OFF
M30 Program End
M98 Auxiliary program call
M99 End of the auxiliary program
X, Y, Z, A, B, C, U, V, W, S Specify the location of the axis
Position command Rotating central point coordinate of each axis for
I, J, K
circular interpolation
Speed command F Feed rate command
Dwell time X Specified Dwell time
N Specify the Statement Number
P Specify the call number of the subprogram
Conditional branch instruction and conditional
IF
operation
GOTO Branch instruction
WHILE, DO Execute a certain program repetitively
END Loop end
Other instruction
%, ; Comment processing command
LE, GE, EQ, LT, GT, NE Compare instructions
AND, OR, XOR, +, -, *, / Operation instruction
= Assignment operator
SIN, COS, TAN, ATAN,
SQRT, ABS, ROUND, Mathematical operation function
AND, OR, FIX, FUP

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9.3.3 Description of the NC Command

(1) G code
The G code defines the types of the commands such as feed and machining method of each axis during machining, and it is
the command to carry out mechanical drive and operation of the NC program, etc.
There are two types of G code as shown below.

Classification Meaning
One-shot G code G code instruction that is valid only in the block to which the G code is commanded
instruction
Modal G code command G code instruction that is valid until it is released by another command from the block
to which the G code is commanded

Modal command
G01 X10. F100
Y100,
Z300,
G00, X100

The G01 is a modal command as shown in the above program so the G01 command will be executed until the G00
command is made since the G01 is commanded even if G01 command is not separately specified.

1) Rapid traverse (G00)

(G90, G91) G00 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_

G90, G91: Absolute/Incremental command

G00: Rapid positioning control command
X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S: feed target position

Y Y
Current position Current position

Target position Target position

X X

[Current location and moving target] [Type of transport section]

As shown in the left figure above, the Rapid Traverse (G00) transfers the specified axis quickly from the X, Y point of the
coordinate given by the command information or the current position to the position incremented by the command
information. Under the G00 command, the feed rate moves according to the G00 feed rate set for each axis.
G00 is traversed independently for each axis. Since the axis with short travel distance first reaches the target point, the
shape of the travel section is not a straight line as above.

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The Rapid Traverse command is a modal command so once it is instructed, it is valid for the axis traversing command
until another traverse command is made.

G90
G00 X100 Y100
Z100

The above program is the example set to absolute command using G90. After that, it rapidly traverses the X and Y axis
to (100,100) points and then, traverses the Z axis to 100 points again.

The parameters related to the Rapid Traverse are as follows.

NC parameter Group Parameter name

NC channel/axis Rapid feed Rapid feed acceleration
parameter Rapid feed deceleration
Rapid feed jerk
Rapid feed speed

NC
Group and parameter name
Parameter

NC
channel/axis
Parameter

2) Linear Interpolation (G01)

(G90, G91) G01 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ (F_)

G90, G91: Absolute/Incremental command

G01: Interpolation feed control command
X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S: feed target position
F_: Feed rate

Y
Current position

Target position

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The linear interpolation (G01) is the function that simultaneously traverses each axis in a straight line to the commanded
position at the speed set by the F command in order to perform the desired machining (eg. cutting) as shown in the figure
above.
In the case of the incremental command (G91), it moves to the position incremented by the command information in a
straight line from the current axis position.
Since the G01 command is a modal command, once it is instructed, it continues to be valid for the axis feed command
until another feed command is made. The feed speed command can be instructed with the "F" code. There are two feed
methods; feed per revolution and feed per minute. Normally, the feed per minute is applied.

Feed rate of the X axis: Dx

Feed rate of the Y axis: Dy
Feed rate of the Z axis: Dz

D= √(Dx^2+Dy^2+ Dz^2)
X axis’s feed rate Fx=Dx/D ×F
Y axis’s feed rate Fy=Dy/D ×F
Z axis’s feed rate Fz=Dz/D ×F

The feed rate of each axis differs depending on the distance of each axis as shown in the above formula.

G90
G01 X50 Y35 F3000 % Interpolation feed control, target position to traverse(X=50, Y=35), speed 3000
G91
X100 Y55 % Interpolation feed control

The above program shows the example that executes the interpolation feed control at the speed 3000 to the points of
the X axis 50 and the Y axis 35 under the absolute command and then, executes the interpolation feed control to the
points incremented by 100 from the X axis and 55 from the Y axis under the incremental command.
“X100. Y55.", as mentioned above, the G01 and F code are modal commands so they operate under interpolation feed
control without a separate command.

3) Circular arc interpolation (G02/G03)

(G90, G91) G17 (G02, G03) X_ Y_ (I_ J_, R_) (F_)

(G90, G91) G18 (G02, G03) X_ Z_ (I_ K_, R_) (F_)
(G90, G91) G19 (G02, G03) Y_ Z_ (J_ K_, R_) (F_)

G90, G91: Absolute/Incremental command

G17, G18, G19: Specify the plane to execute the circular interpolation
G02, G03: Clockwise, counter clockwise circular interpolation
X_ Y_ Z_: Target position to traverse
I_ J_ K_/R_: Reference point or radius of an arc
F_: Feed rate

The circular interpolation (G02 / G03) is the command to execute the rotary feed at the speed specified by "F" based on
the commanded or calculated central point to the target position to traverse. In the circular interpolation command, the
speed means the linear velocity in tangential direction.

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For the circular interpolation command, you should select the plant to execute circular interpolation before the command.
The NC program has the command for specifying each plane; G17 is defined as XY plane, G18 as ZX plane, and G19
as YZ plane as shown below. If you enter the command information beyond the selected plane, an error will occur.

Y Y G17 plane X G18 plane

G02(MCW) G02(MCW)
G17 : XY plane

G02/MCW

G03/MCC
G03(MCC) G03(MCC)
X Z

G03/MCC Z G19 plane

X
G02/MCW G02(MCW)
G02/MCW
G03/MCC

Z G18 : XZ plane G03(MCC)

Y

The circular interpolation can be executed by setting the central point of an arc as the command information or by
setting the circular radius as the command information. In order to execute the circular interpolation, one of the above two
methods must applied for commanding.
When applying the Reference Point Method using I, J, and K and the Radius Method using the "R" code
simultaneously between the circular interpolation commands, I, J, and K commands will be ignored and then, the circular
interpolation will be executed under the radius command using “R”.

When instructing the circular interpolation with specifying the central point, the central point command information (I, J,
K) of the circular interpolation command is always the position incremented from the start position to the central point
regardless of the absolute / incremental command (G90 / G91). The central point command information, I, J, and K
correspond to X, Y, and Z, respectively. If the value of I, J, K command information is "0", it can be omitted.
When the current position and the target position to traverse are the same, the circular interpolation with specifying the
central point can command a 360-degree perfect circle.

The circular interpolation with specifying the R (radius) does not designate the central point to determine the arc
section, but only the R(radius) which forms the arc from the current position to the target position to traverse.
When executing the circular interpolation using the R (radius) designation method, the central point of the arc can have
two shapes. At this time, the motion controller performs the circular interpolation by selecting the central point with the
shortest arc to the target point to traverse as shown below.

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Unlike the circular interpolation with specifying the central point, the circular interpolation with the R (radius) designation
cannot command a 360-degree perfect circle.

[Circular interpolation with specifying the radius(R)]

During the circular interpolation, if the start and end radii of the arc are different, an alarm occurs. If it is within the error
radius, it traverses to the original trajectory and then reaches the final position with a straight line.

[Circular interpolation of sections with different radius of rotation]

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 Chapter 9 NC Control Function

G90
G00 X0 Y0 Z0
% XY plane
G90
G17
G02 X50 Y50 I50 F100 % Clockwise circular interpolation, Central point(X=X+50, Y=0), speed
100
G03 X0 Y0 R50 % Counter clockwise circular interpolation, R(Radius)=50
G91 % relative coordinate
G03 X100 Y100 J100 % Counter clockwise circular interpolation, Central point(X=0,
Y=Y+100)
G02 X-100 Y-100 R100 % Clockwise circular interpolation, R(Radius)=100

Example 1 - Circular interpolation clockwise

G01 Y1.0 F8.0; % Linear interpolation (Y=1.0), Speed 8
G02 X1.2803 Y1.5303 I0.75 % Circular interpolation clockwise, R (radius) = 0.75, Target position
(X=1.2803, Y1.5303)

Example 2 - Circle clockwise

G01 Y1.0 F8.0; % Linear interpolation (Y=1.0), Speed 8
G02 I0.75 % Circular interpolation clockwise, R (radius) = 0.75

% ZX plane
G90
G18
G02 Z50 X50 K50 F200 % Clockwise circular interpolation, Central point(X=X+0, Z=Z+50),
speed 200
G03 Z0 X0 R50 % Counter clockwise circular interpolation, R(Radius)=50

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G91
G03 Z100 X100. I100 % Counter clockwise circular interpolation, Central point(X=X+100,
Z=Z+0)
G02 Z-100 X-100 R100 % Clockwise circular interpolation, R(Radius)=100,
% Target position to traverse(X=X-100, Z=Z-100)

% YZ plane
G90
G19
G02 Y50 Z50 J50 F300 % Clockwise circular interpolation, Central point(Y=Y+50, Z=Z+0),
speed 300
G03 Y0 Z0 R50 % Counter clockwise circular interpolation, R(Radius)=50
G91
G03 Y100 Z100 K100 % Counter clockwise circular interpolation, Central point(Y=Y+0,
Z=Z+100)
G02 Y-100 Z-100 R100 % Clockwise circular interpolation, R(Radius)=100

% Perfect circle
G17
G02 I50 % Clockwise circular interpolation(360-degree perfect circle), Central point(X=X+50, Y=Y+0)
G03 J50 % Counter clockwise circular interpolation(360-degree perfect circle), Central
point(X=X+50, Y=Y+0)
G02 I50 J50 % Clockwise circular interpolation(360-degree perfect circle), Central point(X=X+50,
Y=Y+50)

% I ignore R apply
G02 X-100 I30 R50

The parameters related to the circular interpolation are as follows.

NC
Group and parameter name
Parameter

NC
Channel
Parameter

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4) Helical interpolation(G02/G03)

(G90, G91) G17 (G02, G03) X_ Y_ (I_ J_, R_) Z_ F_

(G90, G91) G18 (G02, G03) X_ Z_ (I_ K_, R_) Y_ F_
(G90, G91) G19 (G02, G03) Y_ Z_ (J_ K_, R_) X_ F

G90, G91: Absolute/Incremental command

G17, G18, G19: Specify the plane to execute the circular interpolation
G02, G03: Clockwise, counter clockwise circular interpolation
X_ Y_ Z_: Target position to traverse
I_ J_ K_/R_: Reference point or radius of an arc
F_: Feed rate

The helical interpolation instructs another axis whose plane is not specified in the circular interpolation command, and
the axis is synchronized in a straight line and traverses with the progress of the circular interpolation. That is, when XY
plane G17 is commanded, the Z axis can be transferred.

G90
G00 X0 Y0 Z0

% XY plane
G90
G17
G02 X50 Y50 I50 Z10 F100 % Clockwise circular interpolation, Central point(X=X+50, Y=0), Z position 10,
speed 100
G03 X0 Y0 Z 20 R50 % counter clockwise circular interpolation, R(Radius)=50, Z position 20

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5) Dwell function

G04 (X_, P_)

G04: dwell command

X_, P_: Dwell time command information(sec, msec)

The DWELL command (G04) is the command to stop for the time specified following "X" or "P" and then, execute the
next block.
X’s unit is sec, P’s unit is in msec.

G90
G00 X0. Y0, Z0,
G01 X100. Y100, F1500
G04 P100 % Dwell time : 100 msec
G00 X500. Y500,
G04 X1 % Dwell time : 1 sec
G91
G01 X100. Y100, F1500

The parameter related to the DWELL command is as follows.

NC
Group and parameter name
Parameter

NC
Channel
Parameter

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6) Exact Stop(G09)

G09

Exact Stop (Precision stop command)

In normal feed / cutting operations, the corner section decelerates the current block and accelerates the next block
because it is affected by physical inertia when accelerating or decelerating the axis traverse. That is why ‘Rounding’
occurs. This function performs the ‘Inposition Check’ and proceeds to the next block as shown below to put the
commanded block in the instructed position of feed / cutting exactly.

Y
200 Inposition Check

100

Feed path, case of normal feed command

-100 100 200

X

This function is a one-shot command so it is valid in the corresponding command only.

If the G09 command is used for the simple feed command like "G01", the ‘Inposition Check’ is performed at the target
position to traverse.
If machining such as cutting is performed using this function, fine stopping phenomenon occurs at the connecting
intersection point of the curved surfaces, resulting in some disadvantages; bad condition of the machined surface,
significant wear of the tool, and long machining time.

G90
G00 X0. Y0, Z0
G09 G01 X100. Y100, F5000 % Linear feeding through the Exact Stop
X200, Y250, % linear feeding
G10

The above program is the example of using the Exact Stop (G09) command for linear feeding. The G09 command in
the above program is a one-shot command so "X200. Y250." command is not affected by the G09 command.

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7) data setting (G10)

(G90, G91) G10 (L10) (P_ R_)

(G90, G91) G10 (L12) (P_ R_)

G10: data setting

L10: H Data setting(tool diameter)
L12: D Data setting(tool length)
P_: offset number
R_: tool compensation amount
G90, G91: The compensation value is set and the value previously set is updated.

This command is used in the diameter of a tool, the compensation value of tool length and reference position offset of the
coordinate system, and can be input by program. It can be used if the real-time compensation value changes.

G10 G90 L10 P10 R5 %Set 5 to H10, compensation No. 5.

G10 G91 L12 P5 R10 %Set 10 to D5, compensation No. 10.

The parameter items related to data setting commands are as follows:

NC
Group and parameter name
Parameter

NC
Channel
Parameter

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8) Command polar coordinates(G15, G16)

G15
G16 X_ Y_

G15: Cancel polar coordinates

G16 : Command polar coordinates
X : Polar coordinates arc radius
Y : Polar coordinates angle command

A polar coordinate command is used if the current coordinate system works with the polar coordinate system, not the
right-angle coordinate system. You can work by entering pivot, angle and radius.

90°
P(x,y)=P(r,θ)

180° 0°

270°

If the polar coordinate system is used, the circular interpolation plane appears differently. For this part, see the circular
interpolation plane (G17). The reference position is set the same with the reference position of the right-angle coordinate
system. If it is an incremental command, the current position becomes the reference position of the polar coordinate.

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9) 9) Selecting the plane for circular interpolation (G17, G18, G19)

(G90, G91) G17 (G02, G03) X_ Y_ (I_ J_ / R_) F_

(G90, G91) G18 (G02, G03) X_ Z_ (I_ K_ / R_) F_
(G90, G91) G19 (G02, G03) Y_ Z_ (J_ K_ / R_) F

G90, G91: Absolute/Incremental command

G17: X-Y plane
G18: Z-X plane
G19: Y-Z plane
G02, G03: Clockwise, counter clockwise circular interpolation
X_ Y_ Z_: Target position to traverse
I_ J_ K_/R_: Reference point or radius of an arc
F_: Feed rate

This command specifies two planes to perform the circular interpolation.

Y Y G17 plane X G18 plane

G02(MCW) G02(MCW)
G17 : XY plane

G02/MCW

G03/MCC
G03(MCC) G03(MCC)
X Z

G03/MCC Z G19 plane

X
G02/MCW G02(MCW)
G02/MCW
G03/MCC

Z G18 : XZ plane G03(MCC)

Y

The parameters related to the command to select planes for circular interpolation are as follows.

NC
Group and parameter name
Parameter

NC
Channel
Parameter

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10) Inch/meter input (G20, G21)

G20
G21

G20: Inch input

G21: meter input

This command sets whether the position unit to be input is inch or meter. Even if this command is executed, the system
of units including a position displayed on screen or an internal offset keeps the system of units set by parameters.
The command to shift this system of units should be used at the beginning of a program. When shifting to other system
of units in the middle of a single program, unstable results can be caused. If the whole part of a plan is different from
parameter units, use the command at the beginning of the program.

NC
Group and parameter name
Parameter

NC
Channel
Parameter

11) Stroke function enable/disable(G22, G23)

G22 (X_ Y_ Z_) (I_ J_ K_)

G23

G22: Stroke check function ON

G23: Stroke check function Off
X_ Y_ Z_: Enter the lower limit position based on the machine origin of each coordinate.
I_ J_ K_: Enter the upper limit position based on the machine origin of each coordinate.

This command sets the Soft Limit of the coordinate system. You can input the lower limit coordinate (X, Y, Z) and upper
limit coordinate (I, J, K) of each stroke. If it is out of this range, the error will be displayed. Then, in a manual mode, it can
be entered into the working area or be driven after turning off the stroke check function. This is a modal command so it
continues to be valid once it is commanded.
For A, B, C, U, V, W, S axes other than X, Y and Z axes, it should be set by the parameters. At this time, the parameter,
‘Whether to use G22 No Travelling Area’ should be set to 0 to use the G22 command.
This command does not operate on a single axis, and works normally only when values are entered in two or more
axes (plane or space).

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The parameters related to Enable /Disable stroke are as follows.

NC
Group and parameter name
Parameter

NC
Channel
Parameter

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12) Homing check(G27)

(G90, G91) G27 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_

G90, G91: Absolute/Incremental command

G27: homing check
X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Target coordinate

Through this command, it traverses to the specified X, Y, Z coordinate. When the current position is the origin after the
traverse is done, homing is completed. If it is not the origin, the alarm occurs. When this command is instructed, the
compensations of tool diameter and tool length are canceled.

Workpiece coordinate
G90
G27 X-50. Y0.

Alarm G90
G27 X-50. Y-70.

70

50
X

13) Automatic homing(G28)

(G90, G91) G28 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_

G90, G91: Absolute/Incremental command

G28: Auto-homing command
X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Coordinate of waypoint of each axis to be homed

It is the command to automatically return the axis to the machine reference point. When the G28 command is
encountered during the program execution, each axis is moved to the machine origin at the rapid traverse rate. At this
time, it stops by the commanded position of each axis on the way.

Y
200 Waypoint

Current point

100

Machine origin

-100 100 200

X

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The axes without receiving the auto-homing command do not move.

The incremental commands are available for axis positioning.
If the axis position command is "0", it returns directly to the machine origin without dropping by waypoints.

G90
G01 X100. Y100, Z100 F552. % Linear interpolation, target position to traverse(X=100, Y=100),
speed 552
G28 X40. Y55. Z32. % Auto-homing, waypoint(X=40, Y=55, Z=32)
G91 G01 X50. Y50. F550.

The above program is the example of moving the position of axes transferred to X, Y, Z axes linearly to the machine
origin by using the G28 auto-homing command.

14) Automatic homing(G29)

(G90, G91) G29 X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_

G90, G91: Absolute/Incremental command

G29: Auto-homing command
X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: return coordinate

This command is used when the traverse is done after the auto-homing(G28), 2nd, 3rd, 4th homing(G30) is instructed.
It traverses rapidly (G00) to the returning coordinate via the waypoint that was used for homing. If the homing command
has not been previously executed, the machine origin becomes the midpoint and it traverses to the returning coordinate.
In this command, tool diameter compensation and tool length compensation are not applied. All the axes that have been
commanded at the time of origin return have been traversed before the midpoint has been traversed, and only the
coordinates that have been commanded at return coordinate are traversed thereafter.

Y Y

Workpiece coordinate Workpiece coordinate

G90 G28 X0. Y0.

G90 G29 X20. Y10.

70 70

X 50
X
50

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15) The 2nd, 3rd and 4th homing(G30)

(G90, G91) G30 (P2, P3, P4) X_ Y_ Z_ U_

G90, G91: Absolute/Incremental command

G30: Auto-homing command
P2: the 2th origin
P3: the 3rd origin
P4: the 4th origin
X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Coordinate of waypoint of each axis to be homed

This command automatically returns each commanded axis to the preconfigured 2nd, 3rd, 4th origin. If the G30
instruction is encountered during the program execution, each axis is moved to the specified 2nd or 3rd or 4th origin at
the rapid traverse rate. At this time, it stops by the commanded position of each axis on the way.

Y
200 Waypoint

Current point

100

2nd, 3rd origin

-100 100 200

X

The 2nd, 3rd, 4th origin coordinate of each axis should be specified separately in the NC channel / axis parameters.
Through the P2, P3, and P4 commands, for the 2nd and 3rd homing to be instructed currently, you can specify which
origin is selected between the 2nd, 3rd origin. "P2" refers to the 2nd origin and "P3" refers to the 3rd origin.
The incremental commands are available for axis positioning.

NC
Group and parameter name
Parameter

NC
Channel/Axis
Parameter

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16) Skip function (G31 / G31.1 / G31.2 / G31.3 / G31.4)

{G31 / G31.1 / G31.2 / G31.3 / G31.4} X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ F_

G31 / G31.1 / G31.2 / G31.3 / G31.4:

X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: feed position
F_: Feed rate

The method of command and the type of axis feed are applied the same as those for linear interpolation (G01). Once
the SKIP signal is input with the NC_BLOCKSKIP command, feed is stopped and it is progressed in the next block. This
function is used for measuring a size of work-piece or for knowing a particular location during machining. At this time, the
location of the machine at the point that it is stopped is saved in the flags by axis. For more information of the relevant
flags, see “Appendix 1 Flag Alarm”.

De facto transfer
External signal pathTransfer path
input in case external
signal is absent

External signal
input

G90 G54 G00 X0. Y0. Z0.

G31 X300. F200.; - Input of external signal SKIP 1
G31.2 Y200. ; - Input of external signal SKIP 2
G31.3 X0. ; - Input of external signal SKIP 3
G31.4 Y0. ; - Input of external signal SKIP 4
M02; program End

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17) Automatic tool length measurement (G37 / G37.1 / G37.2 / G37.3 / G37.4)

{G37 / G37.1 / G37.2 / G37.3 / G37.4} X_ Y_ Z_

G37: Auto tool length measurement 1 G code

G37.1: Auto tool length measurement 1 G code
G37.2: Auto tool length measurement 2 G code
G37.3: Auto tool length measurement 3 G code
G37.4: Auto tool length measurement 4 G code
X_ Y_ Z_ : measuring location

It is used when tool measuring equipment is installed on a particular position of the machine. It automatically measures
the compensation value of a tool and compensates. A tool moves to a measuring location during which it slows down
and moves until a signal to reach the measuring location displays from measuring equipment. It calculates a new tool
compensation value (tool length compensation value) from the difference between the actually nominated position and
the position where the auto tool measure signal happens.

Tool

Start Position

Rapid
Traverse

Deceleration
Positions
Measurement
Speed
Measurement
Position

(1) Auto tool measurement signal (SKIP signal)

If a SKIP signal is input with the NC_BLOCKSKIP command, the feed command for the relevant block is closed and
tool measurement is carried out. G code corresponding to each SKIP signal of the NC_BLOCKSKIP command is
shown as follows, and following G code, one of X, Y, or Z is nominated.

SKIP signal G code

SKIP1 G37.1(G37)
SKIP2 G37.2
SKIP3 G37.3
SKIP4 G37.4

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(2) Type of axis feed during auto tool measurement

Once the command of auto tool measurement is given, it rapidly moves a tool at first ((a) section). If a tool comes
into the section of speed reduction set by a parameter, the tool is moved at a low speed set by the parameter ((B)
section). If the tool reaches the measuring point and the measuring signal (SKIP signal of the NC_BLOCKSKIP
command) is ON, tool movement is stopped.

Measurement
Rapid Slow Position
Traverse Traverse

Start Position

‘r’ : Rapid Start Length

‘e’ : Automatic tool measurement diagnosis function Section

When a measurement signal is detected in an (c),(d) area other than the section, a tool measurement alarm occurs.
If no measuring signal is detected until out of (d) range, a tool measurement alarm occurs.
Parameter items related to automatic tool length measurement are as follows.
NC
Group and parameter name
Parameter

NC
Channel
parameter

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(3) Auto tool compensation amount calculation

A new compensation value is produced out by adding the difference between the coordinate values of a tool at the
time of reaching the measuring location and the nominated measuring location to the currently used compensation
value.

Compensation value = Current compensation value + (Location where measuring signal becomes ON –
18)
19)Nominated measuring point)

18) Corner circular arc interpolation (G39)

{G39} X_ Y_ / I_ J_

G39 : Handle corner offset with circular interpolation

X_ Y_ / I_ J_ : Command the vector for the next block

The corner off circular interpolation with the tool radius of the corner as the radius is carried out by the next command
specified in the state of G01, G02 or G03. If specifying X and Y, the new vector that moves to the left (G41) or the right
(G42) from a starting point of a right angle with X and Y is created. A tool moves according to a circular arc from the end
of an old vector to the end of a new vector. X, Y and Z are displayed by the absolute value or the incremental value
corresponding to G90 or G91. And I, J and K are always displayed by the incremental value at the end point.

G41
New vector
신벡터

Old vector (X,Y)/ (I,J)

구벡터
공구중심경로

Program path
프로그램된 경로

G42
신벡터
New vector

(X,Y)/ (I,J) Old vector

구벡터
공구중심경로

Program path
프로그램된 경로

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The command of G39 can be given only during the offset mode (the state that G41 or G42 are commanded previously).
Left and right rotation of a circular arc is decided by whether it is (G41) or (G42). This command carries out circular
interpolation if there is the G function (G00/G01/G02/G03/G33).

19) Disable tool diameter compensation (G40)

{G40} [G00/G01] X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_

G40: Disable tool diameter compensation

X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_: Instruct the vector of the next command block

The G40 command is to cancel the tool diameter compensation. When G40 is commanded in the mode of G00 and
G01, the mode will change from Enable Tool Diameter Compensation to Disable Tool Diameter Compensation. The
offset in the G40 mode is always 0, and the center path of the tool matches the programmed path. The program should
always be terminated in the G40 mode. If it ends in the G41 / G42 mode, the program will be terminated at a distance
offset by the compensation amount. In addition, it is not possible to cancel the tool diameter compensation in the circular
interpolation (G02, G03).

G40 X_ Y_

20) tool diameter compensation (G41, G42)

{G41/G42} [G00 / G01] X_ Y_ Z_ A_ B_ C_ U_ V_ W_ S_ D_

G41: Left compensation of the tool diameter

G42: Right compensation of the tool diameter
D_: The offset number that stores the tool diameter compensation value
X_ Y_ Z_ U_: Instruct the vector of the next command block

(1) Start – Up mode

When the tool diameter compensation is started by commanding G41 / G42 in the status of Disable Tool Diameter
Compensation, it is called the Start-Up mode.
The case where G41 / G42 are commanded or the axis motion block is commanded for the first time after it is
instructed, it is called the Start-Up mode.
In the Start-Up block, the axis motion command must be greater than the tool radius. In the start-up or cancellation
mode, the arc command [G02 / G03] is not executed. When such commands are made, an alarm occurs.

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[Tool path of the inner corner]

[Tool path of the outer corner (obtuse angle)] (Type A)

[Tool path of the outer corner (obtuse angle)] (Type B)

[Tool path of the outer corner (acute angle)] (Type A)

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the outer corner (acute angle)] (Type B)

[Tool path of the outer corner (acute angle)] (Type B)

(2) Compensation mode

[outer wall Machining(obtuse angle)]

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[outer wall Machining(acute angle)]

[Inside wall Machining]

[Inner wall machining]

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(3) Cancel mode

[Tool path of the inner corner]

[Tool path of the outer corner (obtuse angle)] (Type A)

[Tool path of the outer corner (obtuse angle)] (Type B)

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[Tool path of the outer corner (acute angle)] (Type A)

[Tool path of the outer corner (acute angle)] (Type B)

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Y axis

X axis [Unit:

N1 G91 G17 G00 G41 X20. Y20, D08 (D08 tool offset number)
N2 G01 Z-25. F100 (The radius value of the tool is entered in the corresponding
number)
N3 Y40. F250
N4 G39 X40. Y20, (Circular arc compensation path)
N5 X40 Y20.
N6 G39 X40. (Circular arc compensation path)
N7 G02 X40. Y-40, R40.0
N8 X-20. Y-20. R20
N9 G01 X-60.
N10 G00 Z25.
N11 G40 X-20. Y-20,
N12 M30

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The parameters related to tool diameter correction are as follows.

NC
Group and parameter name
Parameter

Tool diameter
compensation
NC
Channel
Parameter

* The parameter related to the tool diameter compensation amount is "tool diameter compensation
amount 1 ~ tool diameter compensation amount 128".

21) tool length compensation (G43, G44, G49)

G43 Z_ H_
G49 Z_

G43: Tool length + length compensation

G44: Tool length + length compensation
G49: Cancel the tool length compensation
Z_: Z-axis movement command (in the case of the G17 plane)
Absolute command and incremental command possible
H_: Offset number storing the tool length compensation value

If the offset data that is designated by H code is added to the coordinate values of the terminal of the motion command
for the Z axis that is programmed by Absolute Command or Incremental Command, G43 is added so the coordinate
value becomes the terminal. A length value can have +, -.
If the motion command of Z is omitted, the length offset is applied in the + direction for G43 and the - direction for G44
in the next block that has the command of Z.
When measuring the tool length first, use the following method
(1) Place the workpiece with a wide top surface on a table.
(2) Bring the end of the reference tool into contact with the plane of the workpiece.
(3) Compensate the Z-axis value.
(4) Replace with the tool to be measured and bring the tip of the tool into contact with the plane.

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(5) The Z-axis value of the relative coordinate system in that state is stored in the memory as the tool compensation
amount.

With the above settings, the correction amount is set to a - value for a short tool and a + value for a long tool with
respect to the reference tool. Therefore, tool length compensation can always be specified only with the G43 during the
program.

Standard tool Short tool Long tool

G43, G44 and G49 are a modal code, which are effective until another code appears. Therefore, the program makes
commands G43/G44 right after tool replacement. After finishing the tool work, if commanding G49 before tool
replacement, tool length compensation is canceled.

Caution 1. To cancel the offset compensation, command the G49 or H00.

Caution 2. The offset number can be specified up to H00 - H128, and the offset number 00, namely, the offset amount
corresponding to H00 always means 0, and it is not possible to set the offset amount corresponding to H00.
Caution 3. It is recommended to create the program like the Z axis movement command for the Enable/Disable Tool
Length Compensation commands. The reason is that if it is commanded in the same way as G43 H01, it moves
by the tool length (or length compensation amount) input in the length compensation address 01 and if the only
G49 is commended, it moves in the opposite direction by the tool length compensation executed before G49, if
the tool length compensation value is "+", it may move downward by the tool length from the current position and
cause the tool collision.
Therefore, it is recommended to instruct Enable/Disable Tool Length Compensation commands like the Z-axis
movement command, and to make it larger than the tool length value.

The parameters related to the tool length compensation are shown below.
NC
Group and parameter name
Parameter

NC
Channel
Parameter

* The parameter related to the tool length compensation amount is "tool length compensation amount
1 ~ length compensation amount 128".

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22) Tool position offset (G45~ G48)

G45 {G01 / G02 / G03} X_ Y_ D_

G46 {G02 / G03} X_ Y_ D_
G47 {G02 / G03} X_ Y_ D_
G48 {G02 / G03} X_ Y_ D_

G45 : Tool position offset increase

G46 : Tool position offset decrease
G47 : Tool offset double increase
G48 : Tool offset double decrease

D_ : Tool diameter compensation number

X_ Y_ Z_ : Coordinate value of the target location to move through circular interpolation

During machining the distance between tools can be increased or decreased as much as the tool diameter rather than
the width of the work-piece. The tool position compensation function (G45~G48) is the function to increase and decrease
the distance to go as much as the tool diameter. The G codes are not modal commands. Therefore, they are valid only
for the commanded block. However, the increased or decreased compensation value is continuously valid for the
commanded axis. To avoid confusion about H code when designating the compensation value, D code is used. The
compensation number is a modal command so that it is continuously valid until another value (compensation number) is
commanded or reset. Therefore, it is not needed to command each block.
The compensation number, 0, means that the compensation value is always 0. Increase and decrease are conducted
toward the move command. In the case of the absolute command, it increases and decreases toward the commanded
position.

G45 G46

Internal Internal
arithmetic arithmetic
processing processing

Movement Movement
amount amount

StartPoint EndPoint StartPoint EndPoint

G47 G48

Internal Internal
arithmetic arithmetic
processing processing

Movement Movement
amount amount

StartPoint EndPoint StartPoint EndPoint

± =
Program command value Compensation amount Movement amount after compensation

Generally the compensation value sets tool radius or tool length with the value of an amount. If the compensation value
is set by a negative value, increase and decrease is conducted the other way. It is like setting G45 and G46, G47 and
G48 conversely.

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For circular arc interpolation, only 1/4 circle and 3/4 circle can be done. In other words, move toward the circular arc that
radius is increased or decreased as much as the compensation value and the center of circular arc is the same. Half or
perfect circle repeatedly commands 1/4 and 3/4 circles.
Programmed path Tool nose center path

N107
N112 N111
N106
20R
N110 N104
N113 10R N108 N105
30

N109

N114 N103
40

10R
N115

N101 N102
N116
40

N100

30 10 30 30 40 10

Start point

N100 G91 G46 G00 X40.0 Y40.0 D01

N101 G45 G01 X100.0 F200
N102 G45 G03 X10.0 Y10.0 J10.0
N103 G45 G01 Y40.0
N104 G46 X0
N105 G46 G02 X-20.0 Y20.0 J20.0
N106 G45 G01 Y0
N107 G47 X-30.0
N108 Y-30.0
N109 G48 X-30.0
N110 Y30.0
N111 G45 X-30.0
N112 G45 G03 X-10.0 Y-10.0 J-10.0
N113 G45 G01 Y-20.0
N114 X10.0
N105 Y-40.0

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23) Scaling (G50, G51, Scaling Function)

Scaling function is to reduce or enlarge the size of the programmed shape and then, to program. It can be applied
variously by designating the whole magnifications or different magnifications of each axis. The tool offset data is excluded
from the subject for scaling.

(1) Increase/decrease by same magnification

G50
G51 X_ Y_ Z_ P_

G50: Scaling Cancel

G51: Scaling Setting
X_ Y_ Z_: The center coordinate value for the scaling command should be absolute G90. If X_Y_Z_ are omitted, the
current location where G51 is commanded becomes the center of scaling.
P_: It is possible to give a command in the form of a real number to an address that designates magnification of scaling.
The unit of magnification is always 1/1000.

For the motion command after this command, scaling is performed by magnification of P that is designated based on the
center of scaling. The scaling mode can be canceled by G50.

The plane selection of circular interpolation can be independently used and should be used with the same block as a
circular interpolation command.

(2) Increase/decrease by same magnification

G50
G51 X_ Y_ Z_ I_ J_ K_

G50: Scaling Cancel

G51: Scaling Setting
X_ Y_ Z_: The center coordinate value for the scaling command should be absolute G590. If X_Y_Z_ are omitted, the
location where G51 is commanded becomes the center of scaling.
I_ J_ K_: Scaling magnification for each axis is designated in the relation of I = X axis, J = Y axis, K = Z axis.
It is always 1/1000.

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N01 G92 X0 Y0 Z0
N02 G90 G51 X-100. Y-100, P0.5
N03 G00 G43 Z-200. H02
N04 G41 X-50. Y-50, D01
N05 G01 Z-250. F1000
N06 Y-150. F200
N07 X-150
N08 G02 Y-50. J50,
N09 G01 X-50.
N10 G00 G49 Z0
N11 G40 G50 X0 Y0
N12 M02

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24) Mirror Image(G50, G51, Mirror Image)

G50
G51 X_ Y_ Z_ I-_ J-_ K-_

G50:
Scaling/Mirror image setting
X_ Y_ Z_: The center coordinate value of mirror image should be absolute G90. If X_Y_Z_ are omitted, the location
where G51 is commanded becomes the center of the mirror image.
I-_ J-_ K-_: You should designate in negative number by the use of ‘-‘. The mirror image magnification for each axis
should be designated in the relation of I = X axis, J = Y axis, and K = Z axis. It is always 1/1000.

Ex) I-1000: Mirror image of X (1 time)

J-1500: Mirror image of Y (1.5 times)
K-2000: Mirror image of Z (2 times)
If the mirror image magnification for each axis is same, you should use P_ command instead of I_ J_ K_ like a scaling
command. You should designate in a negative number by the use of ‘-‘.
(2 times increase of mirror image = P-2000, 1/2 decrease of mirror image = P-500)

The mirror image function is made by adding the mirror function to the scaling function. Therefore, it is possible to
reduce/enlarge the programmed forms and at the same time, it is possible to symmetrically move. If you designate I_ J_
K_ (or P_) in positive numbers when using mirror image G51, the scaling function works. If you designate in negative
numbers, the mirror image function works.

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G54 G91 XZ0.

G54 G90 G00 X0. Y0,
G52 G90 X90. Y80, (Setting of local coordinate system 1)
G00 X0. Y0,
M98 P1234 (Auxiliary program call)
Z2
G52 X60. Y80, (Setting of local coordinate system 2)
G51 X0. Y0, I-1500, J-1500, (1.5 times increase of scale)
(Mirror image for X and Y ON)
M98 P1234
G50
G52 X60. Y60, (Local coordinate cancel)

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25) Set the local coordinate system

G52 X_ Y_ Z_

G52: Set the local coordinate system

The local coordinate system is the coordinate system that sets and uses the reference point at an arbitrary point based
on the set workpiece coordinate system when creating the program by the workpiece coordinate system. With the local
coordinate system command, the new coordinate system, namely, the local coordinate system can be set in all
workpieces coordinate systems (G54 to G59). The origin of each local coordinate system is the X_Y_Z_ locations
specified by each workpiece coordinate system. The local coordinate system is cleared to 0 when a new workpiece
coordinate system is set.

G52 X Y Z

Local coordinate

Workpiece coordinate origin

Machine origin

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G28X0Y0
G00G90X1, Y1,
G92X0Y0
G00X500Y500
G52X1, Y1,
G00X0Y0
G01X500F100
Y500
G52X0Y0
G00X0Y0

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26) Select the machine coordinate system(G53)

G90 G53 X_ Y_ Z_

G90: absolute command

G53: Select the machine coordinate system
X_ Y_ Z_: feed position

G53 is the command to use the machine coordinate system and the tool moves rapidly to the X_Y_Z_ position above in
the machine coordinate system. G53 is the stand-alone G code so it is valid in the commanded block only. It is still valid
in the absolute command (G90) but becomes ineffective in the incremental command (G91). If you want to move the tool
to the machine-specific position such as a tool change position, you should program it in the machine coordinate system
with G53. The tool diameter compensation, tool length compensation, and tool position compensation must be canceled
before the G53 command, otherwise, it will be moved to the compensated state. In addition, since the machine
coordinate system must be set before the G53 is commanded, manual homing or homing with G28 should be executed
after turning on the power.

G40 G80
G53 G90 X-140 Y-120 Z0 (Move to position X-140 Y-120 Z0 of machine coordinate system)
G92 X0 Y0 Z150 (Reset by changing the workpiece coordinate system)
G30 G91 Z0
G54 G00 G90 X0 Y0
M30

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27) Select workpiece Coordinate System1~6(G54, G55, G56, G57, G58, G59)

G54 X_ Y_ Z_
G55 X_ Y_ Z_
G56 X_ Y_ Z_
G57 X_ Y_ Z_
G58 X_ Y_ Z_
G59 X_ Y_ Z_

G54: Select the workpiece coordinate system 1

G55: Select the workpiece coordinate system 2
G56: Select the workpiece coordinate system 3
G57: Select the workpiece coordinate system 4
G58: Select the workpiece coordinate system 5
G59: Select the workpiece coordinate system 6
X_ Y_ Z_: Position of the workpiece coordinate system

The coordinate system used for workpiece machining is called the workpiece coordinate system. This is the coordinate
system that allows the operator to create a program conveniently on the basis of drawings, and to set any point of the
workpiece to be machined as the origin by applying the NC program as it is. After turning on the power, it is necessary to
executing homing for proper application of the coordinate system. When using G54 ~ G59, it is not necessary to set the
coordinate system with G92.

G40 G80
G28 G91 X0 Y0 Z0 (Returning to machine origin where the waypoint is the current position value
[G91mode])
G54 G00 G90 X0 Y0 Z0 % Use the 54 workpiece coordinate system and traverse it to the origin rapidly. i.e.
G54
% Traverse to the origin of the coordinate system rapidly
M30

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28) Single direction positioning (G60)

G90 G60 X_ Y_ Z_ U_

G60: Single Direction Positioning command

G00: Positioning command
X_ Y_ Z_ U_: Target position to traverse

Single Direction Positioning (G60) is the function used for tool traversing, which replaces the Rapid Traverse or runs last.
After stopping at the position separated by the overrun stroke set for the commanded positioning direction, it moves to
the end position and obtains the effect of backlash compensation.
Therefore, the G60 command is applied, it always moves from the same direction to the target position.
The overrun amount is stored in the parameters.
Please refer to the overrun feed amount of the single direction positioning of NC channel / axis parameters.

NC
Group and parameter name
Parameter

NC
Channel/Axis
Parameter

Note that the single direction positioning command does not eliminate the backlash physically.

If the positioning direction is specified for the X + direction as shown in the figure, it will always move from the same
direction to the target position.
If the overrun amount is not set or the feed amount is 0, the single direction positioning command is not applied.
In addition, it does not apply to the Z axis in the drill cycle, and it is not affected by the mirror image for the set direction.

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G21
G17 G40 G80 T01
M06
G90 G54 G60 X5.0 Y5.0
S1200 M03 T02
G43 Z2.5 H01 M08
G99 G82 R2.5 Z-2.0 P200
F150.0
G60 Y20.0
G60 X20.0
G60 Y5.0
G80 Z2.5 M09
G28 Z2.5 M05
M01

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29) Exact Stop Mode(G61)

G61

G61: Exact Stop Mode command

The Exact Stop mode (G61) command is used to avoid not exactly reaching the location designated in the previous
block due to NC’s continuous execution between continuous blocks in the cutting feed.
If exact stop mode is commanded, motion speed is reduced to 0 in the end point of motion of a block. After confirming if
reaching the command position, execute the next block. Exact Stop mode (G61) is a modal command while G09 is a
one-shot command. G61 is continuously applied to the cutting feed until G62 (automatic corner override mode), G63
(tapping mode) and G64 (cutting mode) are commanded.

[Figure] Tool Path between Continuous Blocks

G54 G00 X0 Y0
G61 G01 X10 F50
Y100
G64 X0
Y0
M30

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30) Automatic corner override mode(G62)

G62

G62 : Automatic corner override mode command

This function enables smooth feed by automatically reducing the tool feed speed to prevent the load on the tool from
increasing while moving to the inner corner in the tool diameter compensation mode (G41/G42).

There are 4 types of inner corners to which automatic corner override mode is applied. Corner angle Θ ranges from 2° ≤
Θ ≤ Θp ≤178°.
Programmed path
Tool Center path
Linear - Linear Circular - Circular

Θ
Θ

Linear - Circular Circular-Linear

Θp is a parameter as shown below.

NC
Automatic corner override
Parameter

NC
Channel
Parameter

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Override is applied to the feed rate from the start section to the end section of the corner when it is determined as the
inner corner.
The start section and end section are saved in parameters. The save location is as follows.
NC
Automatic corner override
Parameter

NC
Channel
Parameter

Linear distances Le and Ls to which feedrate override is applied are the linear distances between a point on the tool
center path and the intersection of the corners.

Program path

Le Ls

a b
Tool centerd path
Override applied path: From a point to B
point

The amount of override in the corner section where the override is applied is set as a parameter as follows.
NC
Automatic corner override
Parameter

NC
Channel
Parameter

The feed rate per minute is set as follows.

Deceleration section feed rate = Command feed rate × auto corner override amount × feed rate
override amout

Automatic corner override is not applied during acceleration/deceleration before interpolation.

Also, if the override amount is set to 0, the feed does not proceed.

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G54 G00 X0. Y0, Z0,

G41 D1
G62 G01 X50. F100,
G03 X100. Y50, R10,
G01 X0.
Y100,
M30

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* Always Automatic Corner Override

Automatic corner override can be applied to the entire cutting feed as well as tool diameter compensation.
f the parameter setting is 0, it is the normal automatic corner override mode, and if it is 1, the automatic corner override
function is always available.
NC
Paramete Automatic corner override
r

NC
Channel
Parameter

* Automatic Corner Feed Rate

the feed rate can be set directly during automatic corner override.
It is applied when the value set in the parameter is greater than 0, and when the set speed is greater than the command
speed, it operates at the command speed.
NC
Automatic corner override
Parameter

NC
Channel
Parameter

* Inter Circular Cutting Feed Rate Change

The inner arc section is automatically decelerated during tool diameter compensation in the same way as the inner
corner.
If Rp is very large compared to Rc, Rc/Rp becomes close to 0 and the feed rate becomes 0. Therefore, the minimum
value of Rc/Rp can be set in the parameter and used.
NC
Automatic corner override
Parameter

NC
Channel
Parameter

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Program path

Rp Rc
Tool centered
path

If there is a circular arc in the corner while automatic corner override is applied, the feed rate is applied as follows.
Deceleration section feed rate = Command feed rate × Rx/Rp × auto corner override amount × feed rate
override amout

31) Tapping Mode (G63)

G63

G63: Tapping Mode Command

Tapping mode (G63) command carries out the cutting feed the same as cutting mode. A tool is not decelerated at the
end point of a block and executes the next block.
Cutting feedrate override is fixed at 100% and the function of Feed Hold is not applied.
This function, as a modal command (group 15), is continuously applied to the cutting feed until G61 (Exact Command
Mode), G62 (Automatic Corner Override Mode) and G64 (Cutting Mode) are commanded.

G54 G00 X0. Y0, Z0,

G63 G01 X50. F100,
Y100,
M30

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32) Cutting mode(G64)

G64

G64: Cutting Mode command

The Cutting mode (G64) command is the feed mode that is set as the default of the cutting feed mode. A tool is not
decelerated at the end point of a block and executes the next block.
But as in the real feed, the current block is previously decelerated and the next block is previously accelerated, a
phenomenon of rounding happens at the corner. This function, a modal command (group 15), is valid until G61 (Exact
Command Mode), G62 (Automatic Corner Override Mode) and G63 (Tapping Mode) are commanded.

[Figure] Tool Path between Continuous Blocks

G54 G00 X0 Y0
G64 G01 X50 F100
Y100
G61 X0
Y0
M30

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33) Macro call(G65)

G65 P_ L_ <Factors designated>

G65: Macro call

P_: Program Number
L_: Frequency of repetition

A custom macro can be called with the macro call (G65) command.

A custom macro has several features different from a Sub Program.

 Factors (Data) can be designated and operation among factors is possible.
 Factors are classified into local variables, common variables and system variables.
 Variables always have the values in the form of a real number.
 The program number should be 4-digits.

< Designation of factors > ;

Data delivered to macro

Frequency of repetition (Default: 1)
Program number

Custom macro that is designated as program addresses can be called with macro call (G65) command.
And data variables can be delivered by designating factors.
If it is needed to designate frequency of repetition, set the range value of 1~9999 after L.
If input of repetition frequency is omitted, 1 is set as default.

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Designation of factors have 3 methods as follows:

 Factors designated 1
- Use one alphabet from A to Z except G, L, O, N and P.
- I, J and K should be designated in alphabetic order but other variables should not be in alphabetic order.

Address Variable Address Variable Address Variable

number in number in number in
macro macro macro
A #L1 I #L4 T #L20
B #L2 J #L5 U #L21
C #L3 K #L6 V #L22
D #L7 M #L13 W #L23
E #L8 Q #L17 X #L24
F #L9 R #L18 Y #L25
H #L11 S #L19 Z #L26

 Factors designated 2
- It is possible to designate factors with address A, B, C. It is possible to designate the factor consisting of a
set of addresses I, K, J up to a maximum of 10 sets.
- The number in () means the order of designating factors is not used when it is actually commanded.
-
Address Variable Address Variable Address Variable
number in number in number in
macro macro macro
A #L1 K(3) #L12 J(7) #L23
B #L2 I(4) #L13 K(7) #L24
C #L3 J(4) #L14 I(8) #L25
I(1) #L4 K(4) #L15 J(8) #L26
J(1) #L5 I(5) #L16 K(8) #L27
K(1) #L6 J(5) #L17 I(9) #L28
I(2) #L7 K(5) #L18 J(9) #L29
J(2) #L8 I(6) #L19 K(9) #L30
K(2) #L9 J(6) #L20 I(10) #L31
I(3) #L10 K(6) #L21 J(10) #L32
J(3) #L11 I(7) #L22 K(10) #L33

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 Combination designations
- Even if factors are designated by combining designation of factors 1 and 2, alarms do not occur.
- In this case, factor address follow designation 1. Variable

As in the figure, in case of a combination designation, the address according to the designation of factors 1 is valid.
Therefore, D5.0, not I(2)4.0, is valid in #L7 address.

34) Modal modal call/cancel (G66/G67)

G66 P_ L_ <Factors designated>

G67

G66: Macro modal call

G67: Macro modal call cancel
P_: Program Number
L_: Frequency of repetition

Factor designation of the macro modal call (G66)/cancel (G67) command is the same as macro all (G65).

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< Designation of factors > ;

Data delivered to macro

Frequency of repetition (Default: 1)
Program number

After executing the block that motion is commanded during a macro call, the macro call is carried out.
If G66 is commanded again during a macro modal call (G66), the next modal call can be carried out.
If G67 is commanded, the macro call is not carried out from the next block.
G66 and G67 always exist in the same program.

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35) Coordinate Rotation(G68 / G69)

G17 G68 X_ Y_ R_
G18 G68 Z_ X_ R_
G19 G68 Y_ Z_ R_
G69

G68 : Coordinate System Rotation

G69 : Coordinate System Rotation Cancel

G17 X_ Y_ : G17 plane and coordinate value of rotation center.

G18 Z X_ : G18 plane and coordinate value of rotation center.
G19 Y_ Z_ : G19 plane and coordinate value of rotation center.
R_ : rotation angle

By commanding the rotation center and rotation angle of the shape through the coordinate system rotation command
(G18), it can be rotated by an arbitrary angle. In addition, the rotated shape can be created and used as an auxiliary
program.

Shape
B

R
Shape
A
Y

X
In coordinate rotation in the G17 plane, the
counterclockwise rotation direction is the + direction of
the rotation angle command.

G68 command should be commanded in G00, G01 mode.

If there is a decimal point in the rotation angle, it is an angle unit.
G69 can be commanded in the same block as other commands.
G27, G28, G29, G30, G92 must be commanded in G69 mode.
Among tool diameter compensation, G68 and G69 commands are available. At this time, the rotation plane must be the
plane where tool radius compensation is performed.
It is also possible to call a subprogram while changing the rotation angle.
When the coordinate system rotation is commanded in the scaling mode (G51), the scale is applied to the coordinate
system center point. However, the scale is not applied to the rotation angle. If there is an axis feed command, the rotation
is applied after the scale is applied.

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36) Counter Tapping Cycle

G74 [G90/G91] [G98/G99] X_ Y_ Z_ R_ F_ K _

G74 : Counter Tapping Cycle

X_ Y_ : Position of the hole

Z_ : Depth of the hole
R_ : Position of R point
F_ : Cutting feed rate
K_ : Number of repeats

The Counter Tapping Cycle (G74) command is the function that is useful in creating counter screws. After it rapidly
moves to R point after positioning, execute tapping up to the Z point. Dwell is carried out when tapping ends. It is the
cycle function that the master axis directly revolves (M3) and moves to the R point after stopping.

Initial Level

Reverse R Level Reverse

R rotation of R rotation of
main axis main axis

Forward Forward
rotation of P Z point rotation of P Z point
main axis main axis

G74 with G98 G74 with G99

M4 S100 %main axis start

G90 G98 G74 X300. Y-250. Z-150. R-120. F120. %After positioning, Screw hole 1 cutting, Return to initial
point
Y-550. %After positioning, Screw hole 2 cutting, Return to initial
point
Y-750. %After positioning, Screw hole 3 cutting, Return to initial
point
X1000, %After positioning, Screw hole 4 cutting, Return to initial
point
Y-550. %After positioning, Screw hole 5 cutting, Return to initial
point
Y-750. %After positioning, Screw hole 6 cutting, Return to initial
point
G80 G28 G91 X0 Y0 Z0 %Reference return
M5 %main axis stop

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37) Canned Cycle Cancel (G80)

G80

G80 : Canned Cycle Cancel

The Canned Cycle Cancel (G80) command is the function that releases all drilling data and aborts the canned cycle
function. As it aborts canned cycle data such as R point and Z point, R point and Z point become 0 through incremental
command.

M3 S100 %main axis start

G90 G99 G88 X300. Y-250. Z-150. R-120. F120. %After positioning, Screw hole 1 cutting, Return to R point level
Y-550. %After positioning, Screw hole 2 cutting, Return to R
point level
Y-750. %After positioning, Screw hole 3 cutting, Return to R
point level
X1000. %After positioning, Screw hole 4 cutting, Return to R
point level
Y-550. %After positioning, Screw hole 5 cutting, Return to R
point level
G98Y-750. %After positioning, Screw hole 6 cutting, Return to initial
level
G80 G28 G91 X0 Y0 Z0 %Reference return
M5 %main axis stop

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38) Drilling Cycle/Spot Drilling Cycle

G81 [G90/G91] [G98/G99] X_ Y_ Z_ R_ F_ K _

G81 : Drilling Cycle/Spot Drilling Cycle

X_ Y_ : Position of the hole

Z_ : Depth of the hole
R_ : Position of R point
F_ : Cutting feed rate
K_ : Number of repeats

The Drilling Cycle/Spot Drilling Cycle (G80) commands are used for general drilling, reaming and spot boring. The tool
does cutting feed to the bottom of a hole and then goes out of it at a rapid traverse.

Initial Level

R Level
R R

shift
Z point Z point

G81 with G98 G81 with G99

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39) Drilling dwell cycle/Counter boring cycle

G82 [G90/G91] [G98/G99] X_ Y_ Z_ R_ P_ F_ K _

G81 : Drilling Cycle/Spot Drilling Cycle

X_ Y_ : Position of the hole

Z_ : Depth of the hole
R_ : Position of R point
P_ : Dwell time at the bottom of a hole
F_ : Cutting feed rate
K_ : Number of repeat

The Drilling Dwell Cycle / Counter Boring Cycle (G82) commands are used for general drilling. After cutting feed to the
bottom of a hole, perform the set dwell. If dwell is omitted, it is same as G81.

Initial Level

R Level
R R

shift
Z point
P Z point P

G82 with G98 G82 with G99

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40) Tapping cycle(G84)

G84 [G90/G91] [G98/G99] X_ Y_ Z_ R_ P_ F_ K _

G84 : Tapping Cycle

X_ Y_ : Position of the hole

Z_ : Depth of the hole
R_ : Position of R point
F_ : Cutting feed rate
K_ : Number of repeats

The Tapping Cycle (G84) command is used for creating screws. This tapping cycle makes a screw by directly revolving
(M3) the master axis with a right screw tap spindle and counterclockwise revolving (M4) at the bottom of a hole to escape.

Initial Level

Forward R Level Forward

R rotation of R rotation of
main axis main axis

Reverse Reverse
rotation of P Z point rotation of P Z point
main axis main axis
G84 with G98 G84 with G99

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41) Absolute command(G90)

G90 G01 X_ Y_ Z_ A_ B_ C_ U_ V_ W_

G90: Absolute position command

G01/ G00: linear interpolation/Positioning
X_ Y_ Z_ A_ B_ C_ U_ V_ W_: feed target position

The absolute command (G90) is the method of commanding the feed position based on the currently set coordinate
system.
The feed end point uses the value calculated from the origin of the currently specified coordinate system, regardless of
where the current position is on the coordinate. The absolute command (G90) is a modal command, and once it is
commanded, it still acts as a valid command unless another position command for the feed target is set.

G90 % absolute command

G01 X200 Y50 F5000 % Linear interpolation, target position to traverse(X=200, Y=50), speed
5000
X50 Y100 % Linear interpolation, target position to traverse(X=50,
Y=100), speed 5000

The above program represents the movement of the above figure with the G code.

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42) Incremental command(G91)

G91 G01 X_ Y_ Z_ A_ B_ C_ U_ V_ W_

G91: Incremental command

G01/ G00: linear interpolation/Positioning
X_ Y_ Z_ A_ B_ C_ U_ V_ W_: feed target position

The incremental command (G91) is the method to instruct the movement amount to the target point to traverse for the
current position based on the currently set coordinate system.
The incremental command (G91) is a modal command, and once it is commanded, it still acts as a valid command
unless another position command for the feed target is set.

G91 %Incremental command

G01 X200 Y50 F5000. % Linear interpolation, target position to traverse(X=200, Y=50), speed
5000
X-150 Y50 % Linear interpolation, target position to traverse(X=50,
Y=100), speed 5000

The above program represents the movement of the above figure with the G code.

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43) Work-piece Coordinate System Setting, Maximum Spindle Speed (G92)

When setting the Work-piece Coordinate System

G92 X_ Y_ Z_ A_ B_ C_ U_ V_ W_

G92: Workpiece coordinate system command

X_ Y_ Z_ A_ B_ C_ U_ V_ W_: Input of offset value by axis

The work-piece coordinate system setting is a command to shift the coordinate system in current use as much as the
input offset.
It is used when resetting the coordinate system based on the reference point of the workpiece.
It operates based on the coordinate system shifted (G54 ~G59) before selecting the work-piece coordinate system after
the relevant command.

Note: It should be used after reference position return.

% Used after homing

G90 X10 Y10 % workpiece coordinate system X=10 Y=10 move to position
G92 X100 Y100 % Shift work coordinate system X=10,Y10 to X=100,Y=100
G90 X10 Y10 % workpiece coordinate system -80, -80 move to position

When setting the maximum main axis speed

G92 S_

G92: The command to set the maximum spindle speed

S_: The maximum revolution speed of the spindle in rpm

Set the upper limit for input speed when controlling constant surface speed (G96). When controlling constant surface
speed, if the input value of speed is greater than the command value of G92, the spindle revolves at the set speed of
G92.

G92 S100 % When controlling constant surface speed, the maximum revolution speed of the spindle
is designated at 100 rpm
G96 S1000 % When controlling constant surface speed, cutting speed is 1000 m/min

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44) Feed mode command per minute (G94)

G94 G01 X_ F_

G94: Feed mode command per minute

G01: Linear interpolation feed command
X_: Coordinate value of the target position to move through the linear interpolation feed
F_: Speed command

It is the command to set the input unit to the user input unit (mm, degree) per minute.
Under the command, for the F input unit, the unit / min (mm / min, deg / min) is applied.

G94 G01 X10 F10 % If the unit is mm, the feed rate is commanded in 10mm / min.

45) Feed mode command per revolution (G95)

G95 G01 X_ F_

G95: Feed rate per revolution of the master axis

G01: Linear interpolation feed command
X_: Coordinate value of the target position to move through the linear interpolation feed
F_: Speed command

It is the command to set the input unit to the feed rate per revolution of the master axis.
Under the command, for the F input unit, the unit /rev(mm/rev) is applied.

G95 G01 X10 F10 % If the unit is mm, set the speed to 10mm / rev.

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46) Constant surface speed control (G96)

G96 S_

G96: Constant surface speed (= circumferential speed) control command

S_: Cutting speed command (m/min)

It is the function used when machining materials with an inconstant diameter.

Keep the cutting speed constant and revolve the spindle by calculating the rotation number of the spindle according to
change in material diameters.
As the cutting amount is constantly kept when using the relevant command, improve uniformity of the surface roughness
of a work-piece. The relevant setting is kept before G97 (Constant surface speed control cancel command) is
commanded.

* Note: As a diameter becomes 0 and the N value reaches infinity when machining the center of a material, if you want to
execute G96, designate the maximum rotation number by setting G92 (the maximum spindle speed) to a code before
executing G96 for safety.
If selecting G96 first, the speed of constant surface speed control, S, should be input. If you have selected G96 previously,
you don’t need to input it.

[Figure] Comparison of Radius and Speed of Work-piece

G96 S1000 % Command Cutting speed by 1000m/min

The parameter items related to constant surface speed control are as follows:

NC
Group and parameter name
Parameter

NC
Channel
Parameter

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47) Constant surface speed control disable(G97)

G97 S_

G96: Constant surface speed control cancel = Constant rotation number control
S_: Set the rotation speed of the spindle in rpm

The modal code operates before G96 (constant surface speed control) is commanded. The code is used when rotating
the spindle at the constant speed.

G97 S100 % Command Cutting speed by 100rpm

48) Return to Initial Point at a Canned Cycle (G98)

G98

G98 : Return to Initial Point at a Canned Cycle

Rapidly return to the initial point (the height of Z axis when the canned cycle mode setting is commanded) after
completing boring.

Initial point

R point :start point of

cutting feed

G98 G99

Z point: bottom of hole

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49) Return to R Point at a Canned Cycle (G99)

G99

G99 : Return to Initial Point, R point (initial point of cutting feed) at a Canned Cycle

Rapidly return to R point after completing boring.

Initial point

R point :start point of

cutting feed

G98 G99

Z point: bottom of hole

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50) Cylindrical interpolation mode setting (G107)

G107 C_

G107: Cylindrical interpolation command

C_: Set the rotation axis and radius of a cylinder (If the value is 0, the cylindrical interpolation is canceled.)

The cylindrical interpolation is a type of contour control, which is the control mode for machining a cylindrical surface. It
can be easily created when grooving the cylindrical CAM.
It performs the circular (G02, G03) and linear interpolation (G01) with other axes by converting the movement amount
of the rotation axis specified by the angle into the linear axis distance of the circumference.

G107 C10
G90 G01 G18 Z0 C0 % Select the circular interpolation plane (ZX) Z0 C10 linear interpolation command

C40 % P1: Linear interpolation

G03 Z70 C60 R3 % P2: Circular interpolation CCW direction (G03) feed position command (Z70 C60)
Circular arc’s radius (3)

G107 C0 % Cancel the cylindrical interpolation

Caution
In the cylindrical interpolation mode, the circular arc radius command can be done with R only.
In the cylindrical interpolation mode, the positioning command (G00) is not available.
In the cylindrical interpolation mode, the coordinate system command is not available.

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51) Polar coordinate interpolation mode ON/OFF (G112, G113)

G112
G01/G02/G03
G113

G112: Set the polar coordinate interpolation mode, it is maintained until the G113 is commanded.
G01/G02/G03: Command to the rectangular coordinate system of the linear and rotary axis.
G113: Disable the polar coordinate interpolation mode

The polar coordinate interpolation converts the command entered into the rectangular coordinate system into the
movement of the linear axes (X, Y, Z: tool movement) and the rotary axes (A, B, C: workpiece). This is executed on the
polar coordinate interpolation plane created by the linear axis and the imaginary axis that is orthogonal to the linear axis.
The linear and the rotation axes should set in the parameters before the polar coordinate interpolation.

NC
Group and parameter name
Parameter

NC
Channel
Parameter

In this mode, the tool diameter can be compensated and the polar coordinate interpolation is performed for the
compensation path of the tool diameter.
It is mainly used for grinding of the CAM shaft, etc.

Virtual axis C mm/inch

Rotation axis

Line axis mm/inch

(PL0286)

Origin of workpiece coordinate or

local coordinate origin

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G112 % Polar coordinate interpolation mode On

G01 C10 F100 % P1: C10 travel
G01 X-8 % P2: X -8 position travel
G03 X-10. C8, R2, % P3: X -10 Y 8

G113: Disable the polar coordinate interpolation mode

Caution
In the polar coordinate interpolation, only the straight line (G01) and circular interpolation (G02 / G03) can be used.
The command unit of a virtual axis is the same as a linear axis. The coordinate of the virtual axis becomes 0 under
the G112 command.
The F command in the polar coordinate interpolation is the linear velocity (the relative velocity of the workpiece and
the tool).
The circular interpolation imagines the X and Y planes so the distance from the starting point to the central point is
commanded by I and J only.

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(2) M code

Operating the machine through the motion control requires the functions for various mechanical operations in addition to
the functions such as feed and interpolation using the G codes. In order to control the machine using the functions other than
those supported by the G codes, the motion controller supports the M codes.
The M codes of the motion controller support the Pause, the function indicating the end of the NC program and the
functions to interface with each motion control flag.
M codes can be commanded again only after all operations of the codes that have been already commanded are
completed.

Mxx

Mxx: Auxiliary command

The machine sequence function corresponding to the "Mxx" code is activated.

G90
G01 X100. Y100,
G01 X150. Y200
M00 % Pause command
G01 X10. Y10,
G01 Y30. Z30,
M02

Actual operations may differ because the machine manufacturer determines which function of the machine is to be given to
the M code. However, the general code table that is commonly used is as follows.

M code Function Meaning

Program’s Automatic operation stops when M00 is commanded during the automatic
operation is operation.
M00
stopped. The modal information is valid up to the present like the single block stop,
Program Stop and the automatic operation is continued by pressing the cycle start button.
This function that is the same as the M00 function is valid when the
Selective stop
M01 Optional Stop Switch is On. This command is ignored if the switch is not
Optional Stop
turned on.
This is the command indicating the end of the program. After the operation
Program End of the block is completed, the master axis and Coolant stop.
M02
End of Program Then, the cursor returns to the beginning of the program. All commands
are RESET by the same operation as M30.
Forward rotation of Forward rotation of the master axis
M03 the master axis Before this command, you must adjust the gear shift and the number of
[CW] revolutions of the master axis in advance.
Reverse rotation of Reverse rotation of the master axis
M04 the master axis Before this command, you must adjust the gear shift and the number of
[CCW] revolutions of the master axis in advance.

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M code Function Meaning

Master axis stop
M05 Master axis stop
It is used to change the direction of rotation or to shift gears.
Tool change
M06 Tool change Depending on the type of automatic tool changer (ATC), it is also used as
the specific macro program call function.
A coolant motor is operated.
Before this command, the auto switch of the coolant on the machine’s
M08 Coolant On
control panel must be set to On. If the switch is off, the program will not
proceed.
M09 Coolant Off A coolant motor is stopped.

Program End At the end of the program, the program returns to its beginning again.
M30
End of Tape All commands are RESET.
Auxiliary program
M98 The function to call an auxiliary program while the automatic program runs
call
End of the auxiliary The function to terminate the auxiliary program.
M99
program [Used even if the main program is executed repeatedly]

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(3) Other Operation instructions of the NC program

Other instructions of the motion controller are the commands that control the progress of the program that is not supported
by G code, M code, or logical / numerical operation function. Using the variables and instructions, it can program flexible and
complicated forms of operations synchronized with the G / M code. These operation functions used in the NC program are
similar to those used in the motion program but since they are operated directly in the NC program, it is possible to develop
programs that can operate the machine more flexibly. In terms of the difference from the operation processed in the motion
program, the motion program operates in the fixed cycle mode, while the operation of the NC program is executed through
one flow only except that it is specified as the iteration statement.
The motion controller supports the variables available in the NC program as the macro variables. The macro variable
replaces the part where the variable is used with its own value. By using the macro variable, you can give flexibility to the
machine control through a controller.

1) Variable (#)

1-1) Local variable

#Ni (N = X, D, W, L; i= 1, 2, 3, …)
#N[Expression]

For the variables, # followed by a variable type and a number. Multiple variables are separated by a number after the #.
The constraints on using variables are as follows.

It is possible to use the variable instead of the value following the address.
ex) F[#L103]  F100 (when, #L103 = 100)
Z-[#L110] Z-250 (when, #L110 = 250).

When the variable number is used as the variable

ex) #L100 = 105
#L105 = -500
##L100 ; wrong expression
#[#L100] ; Expressed using brackets.

A value exceeding the maximum command value set for each address cannot be specified.
ex) #L140 = 1000
G[#L140] ; Maximum command value OVER.

The value of the variable that is not yet defined is 0

1-2) Global variable

#MNi (N = X, D, W, L; i= 1, 2, 3, …)
#MN[ Expression]

For the global variables, # followed by a device type, M with a variable type and a number. The range of input values
available for each variable type is different. The constraints on using variables are the same as the local variable.

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1-3) System variable

#FNi (N = X, D, W, L; i= 1, 2, 3, …)

For the system variables, # followed by a device type, M with a variable type and a number. The range of input values
available for each variable type is different. The constraints on using variables are as follows.

- For the system variable, read only.

2) Usage according to the range of variables

The range of the variable is limited by the variable's number. It is divided into the local variable, global variable, and
system variable according to the range, and the details are as follows.

2-1) Size of each variable

Type Size Note

Local variable 4KB Size per program (10 program)

Global variable(M) 2MB

System flag(F) 128KB

2-2) Addressing method according to each data type

MX161
MX160
:
15 0
MW10
MD5
MW11
MW12
MD6
MW13
:

Data type Addressing method

Bit(X) Addressing the leaner bitwise value from bit 0 after the 'X' indicator
16 bit(W) Addressing the value in word units (16bit) after the 'W' indicator
32 bit(D) Addressing the value in double word units(32bit) after the 'D' indicator

64 bit(L) Addressing the value in long word units(64bit) after the 'L' indicator

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2-3) Performing the address range check for each data type

Type Local variable Global variable System flag

Bit #X0 ~ #X32767 #MX0 ~ #MX16777215 #FX0 ~ #FX1048575

16 bit #W0 ~ #W2047 #MW0 ~ #MW1048575 #FW0 ~ #FW65535

32 bit #D0 ~ #D1024 #MD0 ~ #MD524287 #FD0 ~ #FD32767

64 bit #L0 ~ #L511 #ML0 ~ #ML262143 #FL0 ~ #FL16383

3) Specify the Statement Number(N)

N_

N_: Specify the Statement Number

“N" for specifying the Statement Number is the command used in instructions such as IF, GOTO, etc., and displays the
corresponding block so that other commands can recognize it. Since the NC program of the motion controller does not
memorize the block’s line number of each program separately, the "N" command is used for the block to be displayed.

The "N" command can be used with other commands in the block or it can be used alone in one block.
However, the number used for the "N" command must be unique for each program's motion file (.nc file). If there is a
duplicated Statement Number, an Error will occur.
The Statement Numbers that can be specified with the "N" command range from 0 to 2147483647. If you use a number
exceeding this range, an error is generated. In addition, the number of Statement Numbers that can be specified in one
motion program is up to 1000. If the total number of specified Statement Numbers exceeds 1000, an error occurs.
The statement numbers ordered commanded with the "N" do not have to be used in numerical order on the program. That
is, the Statement Numbers can be used in random order.

4) Conditional statements(IF)

IF [……] GOTO N_

IF: IF statements
[……]: IF statements condition
GOTO N_: Specify the Statement Number to be branched

When the condition following“IF”is met, the conditional statement branches to the block with the Statement Number
"N_" specified immediately after it. If the condition is not met, it starts sequentially from the block immediately below.
For the conditions following “IF”in the conditional statement, you can create them by comparing local variables with
constants, comparing between local variables, and comparing between constants. In the condition after the "IF" in the
conditional statement, variables and constants used in the condition can be applied up to 2 including variables and
constants.
It cannot branch to another motion file (.nc file) or another motion program.

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5) Branch Instruction(GOTO)

GOTO N_

GOTO: Unconditional branch to the block designated as "N_"

N_: Specify the Statement Number to Jump

The branch instruction is the function to branch unconditionally to the block marked with the Statement Number "N_"
that is specified after "GOTO".
It cannot branch to another motion file (.nc file) or to another motion program.

6) Repeat statement(DO, WHILE)

WHILE [<Conditional expression>] DO n

(n = 1, 2, 3, …)
~
END n

WHILE: Condition repeat statement

DO n: repeat until n declaration
[……]: Conditional statement
END n: End of block to repeat

When the <conditional expression> is met, it repeats from the block following DO n to the END n block.When the
<conditional expression> is not met, it jump to the next block of END. WHILE [<conditional expression>] can be omitted
and If omitted, it repeats infinitely from DO n to END n.
WHILE [<conditional expression>] Do n and END n are always used as a pair, and by the identification number n, the pair
is identified. If another loop is selected in the Iteration loop, it is distinguished by the pair of identification factors.

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7) Operation command

There are substitution of variables and integers, the four fundamental arithmetic operations, Mathematical operation, etc.
for available operations. The types of commands are shown in the table below. When using multiple operations in
combination, the priority is given in order of variable, multiplication / division, addition / subtraction. The brackets "[]" are
used to set the priority.

Classification Expression Note

Substitutution, #Li = #Lj
replacement
Add #Li = #Lj + #Lk
Subtract #Li = #Lj - #Lk
OR #Li = #Lj OR #Lk
XOR #Li = #Lj XOR #Lk
Multiply #Li = #Lj * #Lk
Divide #Li = #Lj / #Lk
AND #Li = #Lj AND #Lk
Sin #Li = SIN[#Lj]
Cos #Li = COS[#Lj]
Tan #Li = TAN[#Lj]
Atan #Li = ATAN[#Lj]
Sqrt #Li = SQRT[#Lj]
Abs #Li = ABS[#Lj]
Round #Li = ROUND[#Lj] Rounding off to the nearest integer
And #Li = AND[#Lj]
Or #Li = OR[#Lj]
Fix #Li = FIX[#Lj] Decimal point abandon operation
Fup #Li = FUP[#Lj] Decimal point round-up operation

8) annotation(;, %, ())

%, ;, ()

% : annotation
; : annotation
( ) : annotation
Command description
All characters, expressions and numbers following "%" or ";" are commented out and ignored during the program
execution.
"%" is valid in one line only.
The statement between the parentheses "(" and ")" is also treated as a comment.

G90
G00 X100. Y100, Z100, U100, % From here, the whole line is commented out.
M02

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9) Optional Block Skip

This is used as the command of / at the head of a block. It selects whether to perform the current block through an
external signal. The command should be located in the forefront of the block and can be separated by using a number at
the end of the block. For example, you make it with 2 and can set all the blocks set by 2 not to execute later / with the
NC_BlockOptionalSkip function block.
/Numbers from 1 to 9 can be set later. In other words, you can set with /1 ~ /9. / means /1. The block that is set not to
execute remains until skip is released by setting SkipNum to 0 in the NC_BlockOptionalSkip command.

10) Example of program operation instruction usage

G90

% % symbol comment description

; Comment description after a colon

#L100=1 % Substitute a constant 1 in the local variable # L100

#L102=3 % Substitute a constant 3 in the local variable # L102

IF [#L100 EQ 1] GOTO N3 % Comparison of conditions using local variables in IF STATEMENT

#L101 = #L100 + #L102 % Numerical operation using the local variables
N3 % Specify the Statement Number
G02 X100. Y100, I50, J50,
G01 X[#L102] % Same operation as G01 X3 (since 3 is substituted in # L102)

N150 WHILE [#L100 LE [360.-#L102]] DO 210 % Repeat up to N210 until the condition is met

N200 WHILE [#L101 GE 10.] DO 220 % Repeat up to N220 until the condition is met

G0 Z10.
#L101 = #L101 + 10. (INCREASE) % calculation formula

END 220 % Iteration end for the DO 220 statement

#L100 = #L100 + #L102

#L101 = 50.

END 210 % Iteration end for the DO 210 statement

M02

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9.4 NC Parameter
NC parameter is channel parameter and axis parameter.
The each parameter is as follows.
Parameter Group No. Item Description
1. Channel 1. Standard 1 Target machining quantity Set the target machining quantity.
settings (0 ~ 2,147,483,647)
Parameter It is possible to write NC parameters during NC
channel automatic operation.
2 Target machining quantity at M99 Set the target machining quantity for repeated
repeated machining machining with M99. If the set value matches the
current machining quantity, the cycle automatically
stops.
(0 ~ 2,147,483,647)
It is possible to write NC parameters during NC
channel automatic operation.
3 Check of decimal point Set whether to check decimal point of the NC
program.
0: Decimal point check
(Mm if there is a decimal point, um if there is no
decimal point)
1: No decimal point check (mm)
4 Keep workpiece coordinate Set whether to keep the workpiece coordinate
system system when resetting.
0:Hold,
1: Do not hold
5 Whether to call the macro when Set whether to call the macro program (9000.nc ~
the T code is commanded 9009.nc) when the T code is commanded.
0: Do not call
1: Call
6 Dwell Method Set the dwell function (G04) to use the data
corresponding to X, P as time or the number of
revolutions of the spindle.
If the data is set to the number of revolutions of the
spindle, it is applied in the status of feed per
revolution (G95).
0: times
1: Rotation number
7 Select a progress block at reset Set whether to initialize to the start block of the
program at reset.
If you want to set to 0 (keep the current block), the
parameters of "Keep workpiece coordinate system"
should be set to 0 (keep).
0: Keep the current block
1: Initialize to the start block of the main program
2: Initialize to the current block of the main program
It is possible to write NC parameters during NC
channel automatic operation.

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Parameter Group No. Item Description

1. Channel 1. Standard 8 Whether or not to search the The number of buffers that can store the program’s
settings Statement Number Statement Number (N__) is limited to 1,000 in the
Parameter system.
This buffer is needed if the program changes the
sequence using a GOTO statement.
If more than 1,000 blocks have the N__ command,
an alarm will occur.
This parameter is used to input whether or not to
execute such Statement Number search. Because
high- capacity CAM programs do not have GOTO
using the Statement Number and in the majority of
cases, there are more than 1,000 Statement
Numbers, you should set this parameter as 1.
0: Search
1: Do not search
12 Minimum command unit When decimal point check is applied, set the
minimum unit of the commanded value.
(0 ~ 0.999mm)
18 Whether to use G22 No 0: ‘No Travelling Area’ is valid.
Travelling Area 1: ‘No Travelling Area’ is invalid.
It is possible to write NC parameters during NC
channel automatic operation.
19 Set the inner/outer side of G22 0: Inside
No Travelling Area 1: Outside
20 Whether to use the 3rd ‘No 0: ‘No Travelling Area’ is valid.
Travelling Area’ 1: ‘No Travelling Area’ is invalid.
It is possible to write NC parameters during NC
channel automatic operation.
21 Reverse buffer operation size Set the number of blocks that can be reversed during
reverse operation.
0: Disable(Use of high-speed processing)
1~50: block number
It is possible to write NC parameters during NC
channel automatic operation.
22 Rotary axis of Cylindrical In the cylindrical interpolation mode, the axis maps
interpolation the axis of rotation during the circular interpolation.
The axes are X, Y, Z and perform the circular
interpolation by mapping the axis of rotation to the
selected axis. For example, if the axis of rotation is
mapped to the X axis under the state of the XY plane
(G17), the width becomes the axis of rotation and the
height becomes Y axis. When ZX (G18) is selected
as the plane, the width becomes the Z axis and the
height becomes the axis of rotation. However, if you
set the plane to YZ (G19), you cannot perform the
circular interpolation on the commanded axis of
rotation.
0: X axis,

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Parameter Group No. Item Description

1: Y axis,
2: Z axis
23 Linear axis for interpolating the 0: Unused
polar coordinate 1: X, 2: Y, 3: Z, 4: A, 5: B, 6: C, 7: U, 8: V, 9: W
24 Rotary axis for interpolating the 0: Unused
polar coordinate 1: X, 2: Y, 3: Z, 4: A, 5: B, 6: C, 7: U, 8: V, 9: W
25 Main spindle axis number Set the number of an axis to be used as the main
spindle axis in the NC channel. Set the system that
does not use the spindle axis to 0. To automatically
execute spindle commands in the NC function
module, set it exactly the same as the axis number
connected to the NC S axis.
0: Unused
1 ~ 36: Axis 1 ~ Axis 36
33 Monitoring time for in-position 0 ~ 65,535ms
completion It is possible to write NC parameters during NC
channel automatic operation.
34 Spindle operation of the spindle If automatically controlling spindle commands in the
axis NC function module, set the methods to handle M/S-
Methods to handle M/S-codes codes related to the spindle operation. When
executing M/S-code commands, conduct automatic
control of the spindle axis without M/S-code
operation completion commands. To execute the
next block, select ‘0: Continue automatic operation’. If
a user wants to automatically control the spindle axis
after completing to use M/S-code operation
completion commands, select ‘1: Operation
continues after completing commands’.
0: Automatic operation continues
1: Operation continues after completing commands
It is possible to write NC parameters during NC
channel automatic operation.

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Parameter Group No. Item Description

1. Channel 2. Circular 1 Regenerate the circular center Set whether to recreate the central point of the arc
milling setting when the circular alarm occurs without generating an arc alarm when the distance
Parameter between the start point and the end point exceeds
the tolerance of the difference between the two radii
under the I, J, K circular commands.
0: An alarm occurs.
1: The central point of the arc is regenerated.
2 Speed-limiting function for the 0: Unused
circular milling ON/OFF 1: used
It is possible to write NC parameters during NC
channel automatic operation.
3 Tolerance of arc radius Set the tolerance of the difference between the two
radii at the start point and the end point under the
circular arc command. If this value is large, the
accuracy of the end part of the arc may be degraded.
When set to 0, it is recognized as 0.001.
(0~ 1 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
5 Circular radius with the speed- (0 ~ 10,000 unit, real number)
limiting function for the arc It is possible to write NC parameters during NC
machining channel automatic operation.
6 Upper cutting speed limit of the The maximum speed is limited to the set value for
circular milling the circular arc below "Circular radius with the speed-
limiting function for the circular milling " .
It is possible to write NC parameters during NC
channel automatic operation.
(0 ~ 10,000 unit/min, real number)
7 Lower cutting speed limit of the If “Speed-limiting function for the circular milling
circular milling ON/OFF” is set to ON, the cutting speed is limited to
the set value or more.
It is possible to write NC parameters during NC
channel automatic operation.
(0 ~ 10,000 unit/min, real number)
9 Circular milling acceleration Set the acceleration at the circular milling.
It is possible to write NC parameters during NC
channel automatic operation.
10 Circular milling deceleration Set the deceleration at the circular milling.
It is possible to write NC parameters during NC
channel automatic operation.
11 Circular milling jerk Set the jerk at the circular milling.
It is possible to write NC parameters during NC
channel automatic operation.

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Parameter Group No. Item Description

1. Channel 3. Cutting feed 1 Set the upper speed limit of the If the cutting speed exceeding the set value is
setting cutting feed commanded, the cutting speed is limited to the set
Parameter value and an alarm occurs.
(0 ~ 100,000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
2 Set the lower speed limit of the It is applied only when the cutting speed is not
cutting feed commanded in the feed mode per minute.
(0 ~ 100,000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
4 How to Accelerate/Decelerate 1: Acceleration / deceleration before interpolation
Interpolation Operation
5 Corner speed limit function mode 0: Unused
setting 1: Angle difference mode
2: Speed difference mode
It is possible to write NC parameters during NC
channel automatic operation.
6 Acceleration and deceleration 0: Line type
type of the cutting feed 1: S type
7 Operating method of the When executing the consecutive blocks, it creates
continuous blocks for the connecting trajectory that draws an arc on the
acceleration / deceleration before corner of the connecting trajectory with the speed set
interpolation with the next block. 1: When it is set to Buffered, the
circular arc is not inserted.
1: Buffered
2: Blending Low
3: Blending Previous
4: Blending Next
5: Blending High
9 Acceleration at the time of cutting Acceleration at the time of cutting feed
feed (before interpolation) It is possible to write NC parameters during NC
channel automatic operation.
10 Deceleration at the time of cutting Deceleration at the time of cutting feed
feed (before interpolation) It is possible to write NC parameters during NC
channel automatic operation.
11 Jerk at the time of cutting feed Jerk at the time of cutting feed
(before interpolation) It is possible to write NC parameters during NC
channel automatic operation.
18 Allowable angle setting (angle Set the allowable angle in angle mode.
mode) It is possible to write NC parameters during NC
channel automatic operation.
19 Allowable speed difference Set the allowable speed difference in speed
setting (speed difference mode) difference mode.
It is possible to write NC parameters during NC
channel automatic operation.
20 Deceleration speed setting Setting the Acc. speed.

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Parameter Group No. Item Description

It is possible to write NC parameters during NC
channel automatic operation.
21 Speed multiplier with respect to Set the speed multiplier for the linear axis of the
the linear axis of the axis of rotary axis in speed difference mode.
rotation(speed difference mode) It is possible to write NC parameters during NC
channel automatic operation.
22 Cutting feed acceleration and Set the time constant for acceleration/deceleration
deceleration time constant after interpolation in cutting feed.
(acceleration and deceleration
after interpolation)
4. Rapid feed 1 Feed rate of rapid traverse (G00) In dry run mode, set the feed rate of the G00 block to
setting block in dry run mode the manual feed rate or the rapid feed rate.
0: Dry run speed
1: Rapid feed rate

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Parameter Group No. Item Description

1. Channel 7. Automatic 1 Start section of automatic corner Sets the override area (Ls) of the starting block that
corner override setting forms the corner when an automatic corner override
Parameter override command is commanded.

(0 ~ 999.999 mm, 0 ~ 99.999 inch, real number)

2 End section of automatic corner Sets the override area (Le) of the ending block that
override setting forms the corner when an automatic corner override
command is commanded.
(0 ~ 999.999 mm, 0 ~ 99.999 inch, real number)
3 The scale of automatic corner Set the multiplier applied to the feed rate in the
override settings automatic corner override section.
※ Auto Corner Override Feed rate = Current
Command Feed rate x Multiplier x 0.01
(10~100%, real number)
5 The angle between the automatic Sets the maximum angle of a corner that determines
corner override settings which blocks apply automatic corner override.
(-999.999 ~ 999.999 deg, real number)
6 The type of automatic corner Sets the application type of automatic corner
override settings override. If you set Always Apply, the automatic
corner override function is applied by judging the
angle of the corner in every block.
0: Applies only to inner corners for tool radius
compensation
1: always applied
7 Minimum rate of internal circular Set the minimum rate of internal circular cutting
cutting speed speed. The internal circular cutting speed is
determined by Rc/Rp * F during circular arc feed
during compensation. If Rc/Rp is less than or equal
to the set value, it is limited to the set value.
Programmed
path

Tool
centere
d path

(0.01~1.00%, real number)

8 Automatic corner override This is an item to directly input the speed of the
velocity deceleration section of automatic corner override. If
the value is 0, the value obtained by multiplying the
current cutting speed (Feed) by the multiplier of the
automatic corner override setting is applied as an
override. If the command speed is smaller than this
value, it is fed at the command speed.
(0 ~ 99999.999 mm/min, 0 ~ 9999.999 inch/min,
real number)

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Parameter Group No. Item Description

1. Channel 8. Tool radius 129 How to apply the compensation Set the method of applying the compensation
Compensation value of the tool diameter amount of the tool diameter when compensating the
Parameter tool diameter.
0: Apply the diameter value
1: Apply the radius value
130 Compensation type of the tool Tool diameter Sets the type of traversing method at
diameter the beginning and end of the calibration.

0: Type 1(Bypass traverse)

1: Type 2(Direct traverse)
131 Whether to check the tool Set whether to check the tool interference during tool
interference during tool diameter diameter compensation
compensation 0: Do not check
1: Check
1 Compensation amount of the tool Compensation amount 1 to be used to compensate
diameter 1 the tool diameter
…… …… ……
128 Compensation amount of the tool Compensation amount 128 to be used to
diameter 128 compensate the tool diameter
9. Tool length 1 Compensation amount 1 of the Compensation amount 1 to be used to compensate
tool length the tool length
Compensation …… …… ……
128 Compensation amount 128 of the Compensation amount 128 to be used to
tool length compensate the tool length

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Parameter Group No. Item Description

1. Channel 10. Work- 1 Whether to use the workpiece Set whether to use the workpiece coordinate system
piece coordinate system shift amount. shift amount.
Parameter Coordinate 0: Unused
System 0: Used
11 Workpiece coordinate system Set the workpiece coordinate system shift amount for
shift amount 1 the X axis.
…… …… Set the workpiece coordinate system shift amount for
the 7 axes; Y, Z, A, B, C, U, V.
19 Workpiece coordinate system Set the workpiece coordinate system shift amount for
shift amount 9 the W axis.
41 G54 workpiece coordinate Set the G54 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G54 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
49 G54 workpiece coordinate Set the G54 workpiece coordinate system value for
system value 9 the W axis.
51 G55 workpiece coordinate Set the G55 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G55 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
59 G55 workpiece coordinate Set the G55 workpiece coordinate system value for
system value 9 the W axis.
61 G56 workpiece coordinate Set the G56 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G56 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
69 G56 workpiece coordinate Set the G56 workpiece coordinate system value for
system value 9 the W axis.
71 G57 workpiece coordinate Set the G57 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G57 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
79 G57 workpiece coordinate Set the G57 workpiece coordinate system value for
system value 9 the W axis.
81 G58 workpiece coordinate Set the G58 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G58 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
89 G58 workpiece coordinate Set the G58 workpiece coordinate system value for
system value 9 the W axis.
91 G59 workpiece coordinate Set the G59 workpiece coordinate system value for
system value 1 the X axis.
…… …… Set the G59 workpiece coordinate system values for
the 7 axes; Y, Z, A, B, C, U, V.
99 G59 workpiece coordinate Set the G59 workpiece coordinate system value for
system value 9 the W axis.

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Parameter Group No. Item Description

1. Channel 11. Macro 1 Whether to apply the single block Set whether to apply the single block stop function to
Program stop function to the macro the macro program(9000.nc ~ 9999.nc)
Parameter program 0: Stop
1: Do not stop
It is possible to write NC parameters during NC
channel automatic operation.
2 Display the macro program block Set whether to display the progress status of the
block on the screen when operating the macro
program (9000.nc ~ 9999.nc).
0: Not display
1: Display
It is possible to write NC parameters during NC
channel automatic operation.
10 Macro program call G code Set the G code number to call the macro program
(9010.nc) (9010.nc ~ 9019.nc) that can be called by the G
code. The setting values 0, 1, 2, 3 are ignored.
(0~255.9, real number)
…… ……
19 Macro program call G code Set the G code number to call the macro program
(9019.nc) (9010.nc ~ 9019.nc) that can be called by the G
code.
※ The setting values 0, 1, 2, 3 are ignored.
(0~255.9, real number)
20 Macro program call M code Assign the M code number to call the macro
(9020.nc) program (9020.nc ~ (9020.nc ~ 9029.nc) with the M
code.
※ 0, 30 of the input values are ignored.
(0~255, integer)
※ It can be used only in the main program, and
when used in the subprogram, it operates with the
general M code.
…… ……
29 Macro program call M code Assign the M code number to call the macro
(9029.nc) program (9020.nc ~ (9020.nc ~ 9029.nc) with the M
code.
0, 30 of the input values are ignored.
(0~255, integer)
※ It can be used only in the main program, and
when used in the subprogram, it operates with the
general M code.
9 T code call macro program Enter the number of the macro program (9000.nc ~
number 9009.nc) to be called when the T code is
commanded.
(9000~9009, integer)
It is possible to write NC parameters during NC
channel automatic operation.

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Parameter Group No. Item Description

1. Channel 13. 1 +Measurement Set the measurement reference distance from the automatic tool offset
Automatic reference distance to the contact surface in the +traversing direction of X.
Parameter tool offsets X for automatic tool
Machine home +X
offset Off X +Z
0 reference Tool

Off Z
-X +X Xt
-X traversing direction
contact surface

-Z traversing direction
contact surface
-Z

Zt
+Z

(-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real

number)
2 +Measurement Set the measurement reference distance from the automatic tool offset
reference distance to the contact surface in the +traversing direction of Y.
Y for automatic tool (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real
offset number)
3 +Measurement Set the measurement reference distance from the automatic tool offset
reference distance to the contact surface in the +traversing direction of Z.
Z for automatic tool (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real
offset number)
4 - Measurement Set the measurement reference distance from the automatic tool offset
reference distance to the contact surface in the - traversing direction of X.
X for automatic tool (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real
offset number)
5 Measurement Set the measurement reference distance from the automatic tool offset
reference distance to the contact surface in the -traversing direction of Y.
Y for automatic tool (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real
offset number)
6 - Measurement Set the measurement reference distance from the automatic tool offset
reference distance to the contact surface in the -traversing direction of Z.
Z for automatic tool (-99999.999 ~ 99999.999 mm, -9999.999 ~ 9999.999 inch, real
offset number)
7 Automatic tool Sets the application section (r) of deceleration speed for automatic tool
deceleration start length measurement.
length of automatic
tool offset Rapid Fp Measuring commnand
position
(a) (b) (c) (d)

Decceleration
Start position
err err
r

(0 ~ 99.999 mm, 0 ~ 9.999 inch, real number)

8 Automatic tool Sets the detection range (err) for automatic tool length measurement.
measurement (0 ~ 99.999 mm, 0 ~ 9.999 inch, real number)
detection range of
automatic tool offset

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Parameter Group No. Item Description

9 Automatic tool Set the automatic tool length measurement deceleration speed (Fp)
deceleration (0.001 ~ 999.999 mm, 0.0001 ~ 99.9999 inch, real number)
velocity of
automatic tool offset

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Parameter Group No. Item Description

1. Channel 14. Default 1 Modal traverse of default settings If there is no G00 or G01, select the G code to be
Setting applied as the default modal.
Parameter 0: Rapid Feed(G00)
1: Cutting Feed(G01)
2 Modal plane of default settings If there is no G code instruction for G17, G18, G19
group, select the G code to be applied as the default
modal.
0: XY plane(G17)
1: XZ plane(G18)
2: YZ plane(G19)
3 Modal absolute / increment with If there is no G code instruction for G90, G91 group,
default settings select the G code to be applied as the default modal.
0: Absolute command (G90)
1: Incremental command(G91)
4 Modal inch / metric with default 0: G20
settings 1: G21
5 Check the modal prohibited area If there is no G code instruction for G22, G23 group,
with default settings select the G code to be applied as the default modal.
0: Stroke On(G22)
1: Stroke off(G23)
15. Spindle 4 A reference axis when controlling Set the reference axis that operates in connection
setting constant surface speed with a spindle when controlling constant surface
speed.
0: Unused
1: X, 2: Y, 3: Z, 4: A, 5: B, 6: C, 7: U, 8: V, 9: W
It is possible to write NC parameters during NC
channel automatic operation.
5 The maximum number of spindle Set the maximum number of spindle rotation when
rotation when controlling constant controlling constant surface speed. When being
surface speed commanded by the S code of G92 (set the
maximum speed of the master axis), the S code data
is saved as this parameter value.
(0 ~ 100,000, real number)
It is possible to write NC parameters during NC
channel automatic operation.
6 The minimum number of spindle Set the minimum number of spindle rotation when
rotation when controlling constant controlling constant surface speed.
surface speed (0 ~ 100,000, real number)
It is possible to write NC parameters during NC
channel automatic operation.
16. Relative 1 Relative coordinate’s offset value Set the relative coordinate’s offset value for the X
Setting #1 axis.
2 Relative coordinate’s offset value Set the relative coordinate’s offset value for the Y
#2 axis.
3 Relative coordinate’s offset value Set the relative coordinate’s offset value for the Z
#3 axis.
4 Relative coordinate’s offset value Set the relative coordinate’s offset value for the A

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Parameter Group No. Item Description

#4 axis.
5 Relative coordinate’s offset value Set the relative coordinate’s offset value for the B
#5 axis.
6 Relative coordinate’s offset value Set the relative coordinate’s offset value for the C
#6 axis.
7 Relative coordinate’s offset value Set the relative coordinate’s offset value for the U
#7 axis.
8 Relative coordinate’s offset value Set the relative coordinate’s offset value for the V
#8 axis.
9 Relative coordinate’s offset value Set the relative coordinate’s offset value for the W
#9 axis.

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Parameter Group No. Item Description

2. 1. Axis setting 2 Setting the direction for the Set the traverse command for the axis set as the
Channel/Axis modular axis modular axis.
Parameter 0: Unidirectional
1: Bidirectional
2. Home 1 Coordinates of the 2nd origin Set the coordinates of the 2nd origin.
2 Coordinates of the 3rd origin Set the coordinates of the 3rd origin.
3 Coordinates of the 4th origin Set the coordinates of the 4th origin.
3. Rapid feed 2 Rapid feed acceleration The set value is used as the acceleration of the G00
block.
It is possible to write NC parameters during NC
channel automatic operation.
3 Rapid feed deceleration The set value is used as the deceleration of the G00
block.
It is possible to write NC parameters during NC
channel automatic operation.
4 Rapid feed jerk The set value is used as the jerk of the G00 block.
It is possible to write NC parameters during NC
channel automatic operation.
5 Rapid feed speed The set value is used as the feed speed of the G00
block.
(0~100000 unit/min, real number)
It is possible to write NC parameters during NC
channel automatic operation.
6 Dry run speed Used at dry run speed
It is possible to write NC parameters during NC
channel automatic operation.
4. Feed area 1 Minimum value of the G22 Feed Set the minimum value of the G22 Feed Prohibited
Prohibited Area range for the X, Area range for the X, Y, and Z axis.
Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
2 Maximum value of the G22 Set the maximum value of the G22 Feed Prohibited
Feed Prohibited Area range for Area range for the X, Y, and Z axis.
the X, Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
3 Minimum value of the 3rd Feed Set the minimum value of the 3rd Feed Prohibited
Prohibited Area range for the X, Area range for the X, Y, and Z axis.
Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
4 Maximum value of the 3rd Feed Set the maximum value of the 3rd Feed Prohibited
Prohibited Area range for the X, Area range for the X, Y, and Z axis.
Y, and Z axis. (-100,000~100,000 unit, real number)
It is possible to write NC parameters during NC
channel automatic operation.
5. Sub setting 1 Scaling setting When using the scaling function (G51) function, this

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Parameter Group No. Item Description

parameter is applied to the axis without the scaling
amount command.
When set to a negative value, it is performed as a
mirror image function. X, Y, Z, A, B, C, U, V, W, S set
values for each of the 9 axes .
.
(-9999~9999, integer)
2 Overrun feed rare of single Set the overrun feed rate of the 9 axes; X, Y, Z, A, B,
direction positioning C, U, V, W when using the single direction
positioning function (G60).
After stopping at the position separated by the set
value for the G60 command block’s axis, it moves to
the command position to eliminate the effect of
backlash.

(-100 ~ 100 unit, real number)

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The parameter number, group number, and item number in the table above can be used as operands of NC_ReadParameter or
NC_WriteParameter when reading or writing NC parameters in a motion program.
For the function block, refer to 6.8.14 and 6.8.15.

Motion Function Block

NC_WriteParameter
NC_ReadParameter BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
BOOL Enable Valid BOOL
UINT NcChannel NcChannel UINT UINT NcAxis Busy BOOL
UINT NcAxis Busy BOOL INT ParameterGroup Error BOOL
INT ParameterGroup Error BOOL INT ParameterNumber ErrorID WORD
INT ParameterNumber ErrorID WORD LREAL Value
Value LREAL UINT ExecutionMode

Input-Output
UINT NcChannel Set the NC channel to make the command.
Input
UINT NcAxis Set the channel axis. (1~10: X=1, Y=2, … B=8, C=9, S=10)
When set to 0, ‘Write Channel Parameters’ is setting
INT ParameterGroup Specify the number in the group of the parameter.
INT ParameterNumber Specify the item number in the group of the parameter.

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9.5 Spindle Functions

A spindle is a rotating axis that is used to equip a work-piece or a cutting tool in machine tools. The NC control of a motion controller
provides methods to control the spindle axis and various operation functions.

9.5.1 Spindle device

This part explains basic settings to use the spindle axis and spindle devices supported to control the spindle axis in the NC
control of a motion controller.

(1) Supported devices

The spindle axis in the NC control of a motion controller can set only by the slave connected by EtherCAT. Kinds of EtherCAT
slaves that can be connected by the spindle axis are as follows:
1) EtherCAT Servo drive
To connect with the NC spindle axis, the EtherCAT servo drive should support the csv (cyclic synchronous position)
mode among operation modes of the CiA402 drive profile.
To operate the csv operation mode, the following objects should be registered with the EtherCAT PDO setting.
Type Index Parameter name
0x60410 Status word
TxPDO
0x606C0 Velocity actual value
0x6040:0 Control word
RxPDO
0x60FF:0 Target velocity
※ The position actual value (0x6064:0) object can be used instead of the velocity actual value (0x606C:0) object.

2) EtherCAT inverter
To connect with the NC spindle axis, the EtherCAT inverter should support the vl (velocity, frequency converter) mode
among operation modes of the CiA402 drive profile.
To operate the vl operation mode, the following objects should be registered with the EtherCAT PDO setting.
Type Index Parameter name
0x6041:0 Status word
TxPDO
0x6044:0 vl velocity actual value
0x6040:0 Control word
RxPDO
0x6042:0 vl target velocity

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Notes
If the basic operation mode of drive profiles is not set to csv or vl according to supported devices, set the operation
mode to csv (9) or vl (2) using the ‘EtherCAT parameter – Slave – Start command’.
[Ex.] Set the operation mode to csv (9) in the start command of the LS ELECTRIC L7NH servo drive

(2) How to set the spindle axis

To use the spindle axis in the NC control, set motion data in the following order:
1) EtherCAT parameter – Slave registration
Register the EtherCAT device to be used as the spindle axis with ‘EtherCAT parameter - Slave’.
[Ex.] Register the LS ELECTRIC S100 inverter as the EtherCAT ‘slave 4’

※ Confirm if essential objects for the vl operation mode is registered by confirming the PDO setting of slaves

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2) Axis - Connect the EtherCAT slave

Connect the EtherCAT device to be used as the spindle axis to the axis of the axis parameter.
[Ex.] Connect the slave 4 (S100 Option) to ‘Axis 4’

3) NC channel/Axis - Connection of an axis

Connect the axis to be used as the spindle axis among axes registered with the axis parameter to NC channel S axis, or
spindle axis.
[Ex.] Connect Axis 4 (connection of Slave 4 (S1000 Option)) to the NC S axis

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4) NC channel parameter - Set how to operate the spindle axis

Set how to handle the spindle M/S-code of the spindle axis and the main spindle axis number according to how to
operate the spindle axis.
[Ex.] Set ‘Axis 4’ connected to the NC channel S axis to the ‘main spindle axis number’

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9.5.2 How to Operate the Spindle Axis

Users can set how to operate the spindle axis in the NC control of a motion controller. The spindle axis that is set to the main
spindle axis number according to values of the M-code and S-code can be automatically operated or users can control the spindle
axis directly using motion commands after the NC function module confirms the values of the M-code and S-code in a task
program.

(1) Automatic operation in the NC function module

1) Operation
If the block where the spindle-related M-code (M03, M04, M05, M19) and S-code are used in the NC program is
executed, the spindle axis set to the main spindle axis number is automatically operated in the NC function module.
Users do not need to control the spindle axis by separately confirming the values of the M-code or S-code in a task
program.
They can select how to continue operation when the block where the spindle-related M-code (M03, M04, M05, M19) and
S-code are used is executed according to ‘How to handle the spindle operation M/S-code of the spindle axis’ of the NC
channel parameter.
(a) 0: Automatic operation continues (Described based on NC channel 1).
a) If the block where the spindle-related M-code (M03, M04, M05, M19) and S-code are used is executed, the
relevant spindle operation is automatically executed.
b) The ‘NC Channel 01 M Code Output Strobe Signal’ (_NC01_McodeStrobe) is not generated.
c) Users can confirm the M-code data with the ‘NC Channel 01 M Code Data Output’ (_NC01_McodeData).
d) The ‘NC channel 01 S Output Strobe Signal’ (_NC01_ScodeStrobe) is not generated.
e) Users can confirm the S-code data with the ‘NC Channel 01 S Code Data Output’ (_NC01_ScodeData).
(b) 1: Operation continues after completion’ (Described based on NC channel 1).
a) If the block where the spindle-related M-code (M03, M04, M05, M19) is used is executed, the relevant block
stops automatic operation of the NC program until the ‘M Code Operation Completion’ (NC_McodeComplete)
command is executed.
b) If the ‘M Code Operation Completion’ (NC_McodeComplete) command is executed, the spindle operation
corresponding to the spindle-related M-code is automatically executed in the NC function module and the
program of the next block conducts automatic operation.
c) If the block where the S-code is used is executed, the relevant block stops automatic operation of the NC
program until the ‘S Code Operation Completion’ (NC_ScodeComplete) command is executed.
d) If the ‘S Code Operation Completion’ (NC_ScodeComplete) command is executed, the spindle operation
corresponding to the S-code is automatically executed in the NC function module and the program of the next
block is automatically operated.
e) Users can confirm that the M-code is executed with the ‘NC Channel 01 M Code Output Strobe Signal’
(_NC01_McodeStrobe). They also can confirm the M-code data with the ‘NC Channel 01 M Code Data Output’
(_NC01_McodeData).
f) Users can confirm that the M-code is executed with the ‘NC Channel 01 S Code Output Strobe Signal’
(_NC01_ScodeStrobe).They also can confirm the S-code data with the ‘NC Channel 01 S Code Data Output’
(_NC01_ScodeData).

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(c) Flag

※ If the NC spindle axis conducts automatic operation in the NC function module, users can confirm the number
of the axis set as the main spindle axis in the NC Channel 01 Main Spindle Axis’ (_NC01_MainSpindle) flag.
2) Parameter setting
To conduct automatic operation of the spindle axis in the NC function module, parameters should be set as follows:
(a) NC parameter
The NC channel / S axis should be registered with the NC parameter.

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(b) NC channel parameter - Main spindle axis number

The number of axes connected to the NC channel / S axis should be set identically to the ‘main spindle axis number’.

(2) User operation in a task program

1) Operation
If the block where the spindle-related M-code (M03, M04, M05, M19) and S-code are used in the NC program, users can
control the spindle axis by separately confirming the values of the M-code or S-code in a task program.
(a) Treatment order (Described based on NC channel 1).
a) If the block where the M-code (M03, M04, M05, M19) and S-code are used in the NC program, the relevant
block stops automatic operation of the NC program.
b) Users can confirm that the M-code is executed with the ‘NC Channel 01 M Code Output Strobe Signal’
(_NC01_McodeStrobe) in a task program. They also can learn what spindle operation is executed by
confirming the M-code data with the ‘NC Channel 01 M Code Data Output’ (_NC01_McodeData).
c) Conduct the spindle axis operation corresponding to the M-code value by confirming the ‘NC Channel 01 M
Code Data Output’ (_NC01_McodeData) value.
[Ex.] When executing the ‘M03 S3000’ block in the NC program
As 3 is saved in the ‘NC Channel 01 M Code Data Output’ (_NC01_McodeData) and 3000 is saved in the ‘NC
Channel 01 S Code Data Output’ (_NC01_ScodeData), write a program to operate the spindle axis at 3000 rpm
by using the LS_SyncMoveVelocity command after confirming the values.
[Ex.] When executing the ‘M05’ block in the NC program
As 5 is saved in the ‘NC Channel 01 M Code Data Output’ (_NC01_McodeData), write a program to stop the
spindle axis by using the MC_Halt or MC_Stop commands after confirming the values.
d) After executing operation of the spindle axis corresponding to the M-code or S-code, execute the ‘S Code
Operation Completion’ (NC_McodeComplete) command to automatically operate the next block program.

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(b) Flag

※ The value of the‘NC Channel 01 Confirm the Main spindle axis number’ (_NC01_MainSpindle) flag becomes 0.
2) Parameter setting
In order that users directly control the spindle axis in a task program, not to conduct its automatic operation in the NC
function module, parameters should be set as follows:
(a) NC channel parameter - Main spindle axis number
Set the ‘main spindle axis number’ to ‘0: Disable’.

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9.5.3 Spindle Related Parameter

If controlling the spindle axis in the NC control of a motion controller, explain the relevant parameter.

(1) Axis Parameter

Item Description Setting range Initial values
Set the value to compensate backlash of machine. 0 or
Backlash compensation amount Long real (LREAL) positive 0 [unit]
number
0: Unused
1: Motor ENC
Set the method that an encoder attached to a
Select the Spindle Encoder 2: Built-in ENC1 0
motor of the spindle axis is connected.
3: Built-in ENC2
4: EtherCAT ENC
If the ‘spindle encoder selection’ parameter setting
Number of pulses per rotation of
value is ‘4: EtherCAT ENC’, set number of pulses 1 ~ 4294967295 8192 pls
the spindle EtherCAT encoder
per rotation of an encoder.
If the ‘spindle encoder selection’ parameter setting
Spindle EtherCAT encoder %ID0 ~ %ID4095
value is ‘4: EtherCAT ENC’, set the device where %ID0
position variable/address %MD0 ~ %MD524287
the current position of the encoder is saved.
The P Gain of the Spindle Set the P gain value that the spindle axis uses
1 ~ 500 Hz 30 Hz
Positioning Mode when controlling position.
The Feed Forward Gain of the Set the feed forward gain value that the spindle axis
0 ~ 100 % 0%
Spindle Positioning Mode uses when controlling position.
0: Servo drive supported
33: Reverse direction, Z
phase
How to conduct the homing Set the homing operation method when executing
34: Forward direction, Z 0
operation the NC_Home command to the spindle axis.
phase
35: Set the homing of the
current position
Switch navigation speed of the Set the operated speed to detect switch signals
60 rpm
homing operation after starting the homing operation. Long real (LREAL) positive
Zero navigation speed of the Set the operated speed to detect zero signals after number
12 rpm
homing operation starting the homing operation.
Set acceleration/deceleration to accelerate and 0 or
Acceleration/deceleration of the
decelerate to the target speed after starting the Long real (LREAL) positive 1000
homing operation
homing operation. number
Set the device where the Z phase signal used as %IX0 ~ %IX131072
Z phase variable/address %IX0
the Zero signal of the homing operation is saved. %MX0 ~ %MX16777215
When the M19 Orientation command is executed Long real (LREAL) positive
Orientation velocity 60 rpm
on the NC program, set the Orientation position number

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(offset) and velocity, and the traveling direction. 0:forward direction , 0-Forward
Orientation diredtion
1:reverse direction direction
Orientation offset 0 ~ 360 0
The tolerance range to reach the Determine whether to reach the command speed
0 ~ 100 % 95 %
spindle rotation command speed of the spindle axis by the set value.
The tolerance RPM to reach the Determine whether to reach the zero speed of the
0~ 100 rpm 5 rpm
spindle rotation zero speed spindle axis by the set value.

(2) Channel parameter

Group No. Item Description
1. Standard 25 Main spindle axis number Set the number of an axis to be used as the main spindle axis in
settings the NC channel. Set the system that does not use the spindle axis
to 0. To automatically control spindle commands in the NC function
module, set it exactly the same as the axis number connected to
the NC S axis.
0: Unused
1 ~ 36: Axis 1 ~ Axis 36
34 The spindle operation of If automatically controlling spindle commands in the NC function
the spindle axis. How to module, set the methods to handle M/S-codes related to the
treat M/S-code spindle operation. When executing M/S-code commands, conduct
automatic control of the spindle axis without M/S-code operation
completion commands. To execute the next block, select ‘0:
Continue automatic operation’. If a user wants to automatically
control the spindle axis after completing to use M/S-code operation
completion commands, select ‘1: Operation continues after
completing commands’.
0: Automatic operation continues
1: Operation continues after completing commands

(3) Channel / S axis parameter

Group No. Item Description
3. Rapid feed 2 Rapid feed acceleration When the block where the spindle-related M-code (M03, M04,
3 Rapid feed deceleration M05, M19) and S-code used in the NC program is executed, it is
4 Rapid feed jerk used as acceleration, deceleration and jerk values.

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9.5.4 Spindle operation function

Users can set how to operate the spindle axis in the NC control of a motion controller. If the spindle axis that is set to the main
spindle axis number according to values of the M-code and S-code is automatically operated in the NC function module, explain
the spindle operation function.

(1) Forward operation

1) Operation
When executing the M03 block in the NC program, the spindle axis is operated forward at the speed set in the S-code.
Conduct operation up to the target speed using ‘rapid traverse acceleration/deceleration/jerk’ of channels / S axis
parameters.
After starting the M03 forward operation, the program of the next block is automatically operated.
2) Status
After starting the M03 forward operation, the flag value is set as follows: (Described based on NC channel 1).
Variable Description Value
NC channel 01 target speed of the spindle (S Designated values of S-code in a
_NC01_TVelOfSpindle
command value) program
Values of the current command
_NC01_CVelOfSpindle NC channel 01 Spindle Command Velocity
velocity of the spindle
_NC01_SpindleStop NC channel 01 Signal to confirm spindle stop status Off
_NC01_SpindleCW NC channel 01 Signal to confirm spindle CW status On
_NC01_SpindleCCW NC channel 01 Signal to confirm spindle CCW status Off
NC channel 01 Signal to confirm the status of reaching After reaching the target velocity,
_NC01_SpindleCVelAgr
spindle command velocity turn On
NC channel 01 Signal to confirm the status of reaching
_NC01_SpindleZeroVel Off
zero velocity of the spindle
_NC01S_ForwardRun NC channel 01 Traversing axes toward the axis S + On
_NC01S_ReverseRun NC channel 01 Traversing axes toward the axis S - Off
_NC01S_SpindleRun NC channel 01 Axis S spindle operation On

(2) Reverse operation

1) Operation
When executing the M04 block in the NC program, the spindle axis is operated in reverse at the speed set in the S-code.
Conduct operation up to the target speed using ‘rapid traverse acceleration/deceleration/jerk’ of channels / S axis
parameters.
After starting the M04 reverse operation, the program of the next block is automatically operated.
2) Status
After starting the M04 reverse operation, the flag value changes as follows: (Described based on NC channel 1).
Variable Description Value
NC channel 01 target speed of the spindle (S Designated values of S-code in a
_NC01_TVelOfSpindle
command value) program
Values of the current command
_NC01_CVelOfSpindle NC channel 01 Spindle Command Velocity
velocity of the spindle

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_NC01_SpindleStop NC channel 01 Signal to confirm spindle stop status Off

_NC01_SpindleCW NC channel 01 Signal to confirm spindle CW status Off
_NC01_SpindleCCW NC channel 01 Signal to confirm spindle CCW status On
NC channel 01 Signal to confirm the status of reaching After reaching the target velocity,
_NC01_SpindleCVelAgr
spindle command velocity turn On
NC channel 01 Signal to confirm the status of reaching
_NC01_SpindleZeroVel Off
zero velocity of the spindle
_NC01S_ForwardRun NC channel 01 Traversing axes toward the axis S + Off
_NC01S_ReverseRun NC channel 01 Traversing axes toward the axis S - On
_NC01S_SpindleRun NC channel 01 Axis S spindle operation On

(3) Stop
1) Operation
If executing the M05 block in the NC program, when operating the spindle axis, stop the spindle axis.
Conduct operation using ‘rapid traverse acceleration/deceleration/jerk’ of channels / S axis parameters to stop the spindle
axis.
After starting the M05 stop operation, the program of the next block is automatically operated.
2) Status
After starting the M05 stop operation, the flag value changes as follows: (Described based on NC channel 1).
Variable Description Value
NC channel 01 target speed of the spindle (S Designated values of S-code in a
_NC01_TVelOfSpindle
command value) program
Values of the current command
_NC01_CVelOfSpindle NC channel 01 Spindle Command Velocity
velocity of the spindle
_NC01_SpindleStop NC channel 01 Signal to confirm spindle stop status On when stopped
Turn Off when stopping after
_NC01_SpindleCW NC channel 01 Signal to confirm spindle CW status
keeping the previous status
Turn Off when stopping after
_NC01_SpindleCCW NC channel 01 Signal to confirm spindle CCW status
keeping the previous status
NC channel 01 Signal to confirm the status of reaching
_NC01_SpindleCVelAgr Off
spindle command velocity
NC channel 01 Signal to confirm the status of reaching
_NC01_SpindleZeroVel On when stopped
zero velocity of the spindle
Turn Off when stopping after
_NC01S_ForwardRun NC channel 01 Traversing axes toward the axis S +
keeping the previous status
Turn Off when stopping after
_NC01S_ReverseRun NC channel 01 Traversing axes toward the axis S -
keeping the previous status

(4) Speed change

1) Operation
When executing the S-code block during execution of M03 or M04 in the NC program, the current operating speed
changes to the value of velocity set to S.

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Conduct operation using ‘rapid traverse acceleration/deceleration/jerk’ of channels / S axis parameters to change velocity
of the spindle axis.
After starting the S-code velocity change operation, the program of the next block is automatically operated.
2) Status
After starting the M05 stop operation, the flag value changes as follows: (Described based on NC channel 1).
Variable Description Value
NC channel 01 target speed of the spindle (S Designated values of S-code in a
_NC01_TVelOfSpindle
command value) program
Values of the current command
_NC01_CVelOfSpindle NC channel 01 Spindle Command Velocity
velocity of the spindle
Designated values of S-code in a
_NC01_ScodeData NC channel 01 S Code Data output
program
_NC01_SpindleCW NC channel 01 Signal to confirm spindle CW status Keep previous status
_NC01_SpindleCCW NC channel 01 Signal to confirm spindle CCW status Keep previous status
NC channel 01 Signal to confirm the status of reaching After reaching the target velocity,
_NC01_SpindleCVelAgr
spindle command velocity turn On
NC channel 01 Signal to confirm the status of reaching
_NC01_SpindleZeroVel Off
zero velocity of the spindle
_NC01S_ForwardRun NC channel 01 Traversing axes toward the axis S + Keep previous status
_NC01S_ReverseRun NC channel 01 Traversing axes toward the axis S - Keep previous status
(5) Home operation
1) Operation
When executing commands by setting the NcAxis input of the NC_Home command to 10 (S axis) and the
ReferenceNum input to ‘1: The 1st homing’, execute the homing operation of the spindle axis according to the method
set in the ‘method for homing operation’ of the axis parameter when executing commands.
Axis parameter - Operation according to the ‘method for homing operation’ is as follows:
(a) 0: Servo drive supported
If the axis connected to the spindle axis is a servo drive, the homing operation supported by the servo drive is
executed. Servo drive parameters used for homing operation are as follows:

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(b) 33: Reverse direction, Z phase

Set the Z phase position as the homing after executing the homing operation on the NC function module of a motion
controller and starting reverse operation.
Operation after executing the NC_Home command is as follows: (Described based on NC channel 1).
a) The ‘NC Channel 01 Axis S Homing Completion’ (_NC01S_HomeCmpl) flag turns Off.
b) Start reverse operation at the ‘Zero navigation speed of the homing operation’ and ‘Acceleration/deceleration of
the homing operation’.
c) Stop acceleration if detecting the Z phase (the device set to ‘Z phase variable/address’ turns On).
d) Start forward operation at the ‘Zero navigation speed of the homing operation’ and ‘Acceleration/deceleration of
the homing operation’.
e) Stop at the location where the Z phase is detected.
f) The ‘NC Channel 01 Axis S Homing Completion’ (_NC01S_HomeCmpl) flag turns On.
g) The value of the ‘NC channel 01 Axis S Command position in the Work-piece Coordinate system’
(_NC01S_CmdPosInWC) is set to 0.
(c) 34: Forward direction, Z phase
Set the Z phase position as the homing after executing the homing operation on the NC function module of a motion
controller and starting forward operation.
Operation after executing the NC_Home command is as follows: (Described based on NC channel 1).
a) The ‘NC Channel 01 Axis S Homing Completion’ (_NC01S_HomeCmpl) flag turns Off.
b) Start forward operation at the ‘Zero navigation speed of the homing operation’ and ‘Acceleration/deceleration of
the homing operation’.
c) Stop acceleration if detecting the Z phase (the device set to ‘Z phase variable/address’ turns On).
d) Start reverse operation at the ‘Zero navigation speed of the homing operation’ and ‘Acceleration/deceleration of
the homing operation’.
e) Stop at the location where the Z phase is detected.
f) The ‘NC Channel 01 Axis S Homing Completion’ (_NC01S_HomeCmpl) flag turns On.
g) The value of the ‘NC channel 01 Axis S Command position in the Work-piece Coordinate system’
(_NC01S_CmdPosInWC) is set to 0.

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(d) 35: Set the homing of the current position

The current position of the spindle axis becomes a reference position. (Described based on NC channel 1).
After executing the NC_Home command, the ‘NC channel 01 Axis S Homing completion’ (_NC01S_HomeCmpl)
flag turns On and the value of the ‘NC channel 01 Axis S Command position in the Work-piece Coordinate system’
(_NC01S_CmdPosInWC) is set to 0.

2) Parameter setting
Parameters related to homing operation of the spindle axis are as follows:
Item Description Setting range
1: Motor ENC
Set the method that an encoder attached to a 2: Built-in ENC1
Select the Spindle Encoder
motor of the spindle axis is connected. 3: Built-in ENC2
4: EtherCAT ENC
If the ‘spindle encoder selection’ parameter setting
Number of pulses per rotation of
value is ‘4: EtherCAT ENC’, set number of pulses 1 ~ 4294967295
the spindle EtherCAT encoder
per rotation of an encoder.
If the ‘spindle encoder selection’ parameter setting
Spindle EtherCAT encoder %ID0 ~ %ID4095
value is ‘4: EtherCAT ENC’, set the device where
position variable/address %MD0 ~ %MD524287
the current position of the encoder is saved.
0: Servo drive supported
33: Reverse direction, Z
phase
How to conduct the homing Set the homing operation method when executing
34: Forward direction, Z
operation the NC_Home command to the spindle axis.
phase
35: Set the homing of the
current position
Switch navigation speed of the Set the operated speed to detect switch signals
homing operation after starting the homing operation. Long real (LREAL) positive
Zero navigation speed of the Set the operated speed to detect zero signals after number
homing operation starting the homing operation.
Set acceleration/deceleration to accelerate and 0 or
Acceleration/deceleration of the
decelerate to the target speed after starting the Long real (LREAL) positive
homing operation
homing operation. number
Set the device where the Z phase signal used as %IX0 ~ %IX131072
Z phase variable/address
the Zero signal of the homing operation is saved. %MX0 ~ %MX16777215
If the ‘spindle encoder selection’ parameter is ‘0: Disable’, the homing operation cannot be executed. If satisfying the
following conditions according to the ‘spindle encoder selection’ parameter, homing operation can be normally executed.
(a) ‘1: Motor ENC’
The position actual value (0x6064:0) object should be set in the setting of the EtherCAT Slave TxPDO.
(b) ‘2: Built-in ENC1’
a) Unit of Encoder 1 = 0: pulse
b) Encorder1 max. value = 2147483647 pls

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c) Encorder1 min. value = -2147483648 pls

(c) ‘3: Built-in ENC2’
a) Unit of Encoder 2 = 0: pulse
b) Encorder2 max. value = 2147483647 pls
c) Encorder2 min. value = -2147483648 pls
(d) ‘4: EtherCAT ENC’
The ‘Number of pulses per rotation of the spindle EtherCAT encoder’ and the ‘Spindle EtherCAT encoder position
variable/address’ parameters should be set.
3) Status
After starting homing operation, the status flag value changes as follows: (Described based on NC channel 1).
Variable Description Value
NC channel 01 Axis S reference position return On when executing a command, Off
_NC01S_Homing
operation after completing it
_NC01S_HomeCmpl NC channel 01 Axis S homing completion On after completing normally
NC channel 01 Axis S Command position of
_NC01S_CmdPosInWC 0 after completing normally
Work-piece Coordinate system
NC channel 01 Axis S Command position
_NC01S_CmdPosInMC 0 after completing normally
(Machine Coordinate system)
※ As the spindle axis changes into the speed control operation and the command position of the spindle axis is
updated to the current position after completing the homing operation, the position cannot be exactly 0 due to motor
vibration, etc.
4) Exclusive conditions
As the homing operation of the spindle axis cannot be executed under the following conditions, errors occur when
executing the NC_Home command.
(a) If the ‘spindle encoder selection’ parameter is ‘0: Disable’, (Error code - 0x3637)
(b) If the ‘spindle encoder selection’ parameter is ‘1: Moter ENC’ and there is not the Position actual value (0x6064:0)
object in the EtherCAT slave TxPDO setting, (Error code - 0x3638)
(c) If the ‘spindle encoder selection’ parameter is ‘2: Built-in ENC1’ and the encoder 1 parameter setting does not satisfy
the following, (Error code - 0x3639)
a) Unit of Encoder 1 = 0: pulse
b) Encorder1 max. value = 2147483647 pls
c) Encorder1 min. value = -2147483648 pls
(d) If the ‘spindle encoder selection’ parameter is ‘3: Built-in ENC2’ and the encoder 2 parameter setting does not satisfy
the following, (Error code - 0x363A)
a) Unit of Encoder 2 = 0: pulse
b) Encorder2 max. value = 2147483647 pls
c) Encorder2 min. value = -2147483648 pls

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(6) Orientation
1) operation(Described based on NC channel 1).
When executing the M19 block in the NC program, move the spindle axis to the ‘Spindle Orientation Offset’ position of
the spindle axis.
Start operation at the ‘Orientation speed’ of the axis parameter and toward the ‘Orientation direction’. Conduct operation
up to the target speed using ‘rapid traverse acceleration/deceleration/jerk’ of channels / S axis parameters. Stop at the
‘Orientation Offset’ position after starting the M19 Orientation operation and then, a program of the next block is
automatically operated.
When executing the M19 Orientation operation, the detailed operation is as follows:
(a) If the spindle axis is operated by M03 or M04 commands, decelerate and stop.

(b) Start operation with ‘Orientation velocity’, NC axis S’s rapid traverse acceleration/deceleration/jerk’. Orientation

direction is operated toward the direction set to the ‘Orientation direction’ parameter.

(c) After starting operation, decelerate and stop at the ‘Orientation Offset’ position.

(d) Wait until the ‘NC channel 01 Axis S In-position Detection’ (_NC01S_INPOSITION) signal turns On.

(e) After detecting in-position, the ‘NC channel 01 Confirm Spindle Orientation Status signal’ (_NC01_SpindleOrient) flag

turns On.

2) Parameter setting
Parameters related to Orientation operation of the spindle axis are as follows:
Item Description Setting range
1: Motor ENC
Set the method that an encoder attached to a 2: Built-in ENC1
Select the Spindle Encoder
motor of the spindle axis is connected. 3: Built-in ENC2
4: EtherCAT ENC
If the ‘spindle encoder selection’ parameter setting
Number of pulses per rotation of
value is ‘4: EtherCAT ENC’, set number of pulses 1 ~ 4294967295
the spindle EtherCAT encoder
per rotation of an encoder.
If the ‘spindle encoder selection’ parameter setting
Spindle EtherCAT encoder %ID0 ~ %ID4095
value is ‘4: EtherCAT ENC’, set the device where
position variable/address %MD0 ~ %MD524287
the current position of the encoder is saved.
Long real (LREAL) positive
Orientation velocity
When the M19 Orientation command is executed number
on the NC program, set the Orientation position 0:forward direction ,
Orientation diredtion
(offset) and velocity, and the traveling direction. 1:reverse direction
Orientation offset 0 ~ 360
If the ‘spindle encoder selection’ parameter is ‘0: Disable’, the Orientation operation cannot be executed. If satisfying the
following conditions according to the ‘spindle encoder selection’ parameter, Orientation operation can be normally
executed.
(a) ‘1: Motor ENC’
The position actual value (0x6064:0) object should be set in the setting of the EtherCAT Slave TxPDO.
(b) ‘2: Built-in ENC1’
d) Unit of Encoder 1 = 0: pulse

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e) Encorder1 max. value = 2147483647 pls

f) Encorder1 min. value = -2147483648 pls
(c) ‘3: Built-in ENC2’
d) Unit of Encoder 2 = 0: pulse
e) Encorder2 max. value = 2147483647 pls
f) Encorder2 min. value = -2147483648 pls
(d) ‘4: EtherCAT ENC’
The ‘Number of pulses per rotation of the spindle EtherCAT encoder’ and the ‘Spindle EtherCAT encoder position
variable/address’ parameters should be set.
3) Status
After starting Orientation operation, the status flag value changes as follows: (Described based on NC channel 1).
Variable Description Value
NC channel 01 Spindle Signal to confirm On when executing a command, Off
_NC01_SpindleOrient
Orientation status after completing it
NC channel 01 Axis S Command position of Orientation offset after completing
_NC01S_CmdPosInWC
Work-piece Coordinate system normally
NC channel 01 Axis S Command position Orientation offset after completing
_NC01S_CmdPosInMC
(Machine Coordinate system) normally
※ As the spindle axis changes into the speed control operation and the command position of the spindle axis is
updated to the current position after completing the Orientation operation, the position cannot be exactly 0 due to
motor vibration, etc.
4) Exclusive conditions
As the Orientation operation of the spindle axis cannot be executed under the following conditions, errors occur when
executing the M19 command.
(a) If the spindle axis is not the decision status of a reference position (Error code - 0x3872)
(b) If the ‘spindle encoder selection’ parameter is ‘0: Disable’, (Error code - 0x3873)
(c) If the ‘spindle encoder selection’ parameter is ‘1: Moter ENC’ and there is not the Position actual value (0x6064:0)
object in the EtherCAT slave TxPDO setting, (Error code - 0x3874)
(d) If the ‘spindle encoder selection’ parameter is ‘2: Built-in ENC1’ and the encoder 1 parameter setting does not satisfy
the following, (Error code - 0x3875)
d) Unit of Encoder 1 = 0: pulse
e) Encorder1 max. value = 2147483647 pls
f) Encorder1 min. value = -2147483648 pls
(e) If the ‘spindle encoder selection’ parameter is ‘3: Built-in ENC2’ and the encoder 2 parameter setting does not satisfy
the following, (Error code - 0x3876)
d) Unit of Encoder 2 = 0: pulse
e) Encorder2 max. value = 2147483647 pls
f) Encorder2 min. value = -2147483648 pls

(7) Constant surface speed control

1) Operation
The function is used when machining a material with an inconstant diameter. When executing the G96 (constant surface

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speed control) command in the NC program, the NC spindle axis controls constant surface speed.
Keep the cutting speed constant and revolve the spindle axis by calculating the rotation number of the spindle according
change in material diameters.
For more information, see 9.3.3 Explanation of NC Commands (1) G code 35) Surface speed control (G96).

(8) Spindle override

1) Operation
Users can set an overdrive ratio over the spindle speed command, acceleration/deceleration and jerk by using the
spindle overdrive command in a task program. The spindle overdrive can be executed during or before automatic
operation of the NC program. It does not apply when controlling constant surface speed or conducting the homing
operation.
For more information, see ‘6.8.10 Spindle overdrive (NC_SpindleOverride)’.

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9.5.5 Spindle operation State

The NC control of a motion controller provides a flag that can confirm the operation status of the spindle axis.

(1) NC channel flag (Described based on NC channel 1).

Variable Memory Description
_NC01_ConstSurfSpeed %FX524738 NC channel 01 Signal controlling constant surface speed
NC channel 01 target speed of the spindle (S command
_NC01_TVelOfSpindle %FL8203
value)
_NC01_CVelOfSpindle %FL8204 NC channel 01 Spindle Command Velocity
_NC01_SpindleOverride %FL8208 NC channel 01 Spindle Overdrive
_NC01_SpindleStop %FX525376 NC channel 01 Signal to confirm spindle stop status
_NC01_SpindleCW %FX525377 NC channel 01 Signal to confirm spindle CW status
_NC01_SpindleCCW %FX525378 NC channel 01 Signal to confirm spindle CCW status
_NC01_SpindleOrient %FX525379 NC channel 01 Spindle Signal to confirm Orientation status
NC channel 01 Signal to confirm the status of reaching
_NC01_SpindleCVelAgr %FX525380
spindle command velocity
NC channel 01 Signal to confirm the status of reaching zero
_NC01_SpindleZeroVel %FX525381
velocity of the spindle
_NC01_MainSpindle %FW32840 NC channel 01 Confirm the main spindle axis number
_NC01_McodeStrobe %FX526080 NC channel 01 M code output Strobe signal
_NC01_McodeData %FD16441 NC channel 01 M Code Data output
_NC01_ScodeStrobe %FX526144 NC channel 01 S code output Strobe signal
_NC01_ScodeData %FD16443 NC channel 01 S Code Data output

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(2) NC S channel flag (Described based on NC channel 1).

Variable Memory Description
_NC01S_Ready %FX569344 NC channel 01 Axis S axis Ready
_NC01S_Warning %FX569345 NC channel 01 Axis S Warning occurrence status
_NC01S_Alarm %FX569346 NC channel 01 Axis S Alarm occurrence status
_NC01S_ServoOn %FX569347 NC channel 01 Axis S Servo On/Off Status
_NC01S_ServoReady %FX569348 NC Ch. 01 axis S servo ready
_NC01S_ServoAlarm %FX569349 NC Ch. 01 axis X servo alarm occurrence
_NC01S_OprRdy %FX569408 NC channel 01 Axis S Axis Operation Ready Status
_NC01S_LinkedAxNum %FW35589 NC channel 01 Axis S Actual Axis Number of IPR Axis
_NC01S_Busy %FX569472 NC channel 01 Axis Signal during Axis S traverse
_NC01S_Direction %FX569473 NC channel 01 Axis S operation direction
_NC01S_ForwardRun %FX569474 NC channel 01 Traversing axes toward the axis S +
_NC01S_ReverseRun %FX569475 NC channel 01 Traversing axes toward the axis S -
_NC01S_SpindleRun %FX569478 NC channel 01 Axis S spindle operation
_NC01S_HomeCmpl %FX569539 NC channel 01 Axis S homing completion
NC channel 01 Axis S Command position of Work-piece
_NC01S_CmdPosInWC %FL8901
Coordinate system
_NC01S_ActualVel %FL8903 NC channel 01 Axis S Actual Velocity of Traverse
NC channel 01 Axis S Command position (Machine
_NC01S_CmdPosInMC %FL8915
Coordinate system)
NC channel 01 Axis S Current position (Machine Coordinate
_NC01S_ActualPosInMC %FL8917
system)
_NC01S_AxErr %FW35676 NC channel 01 Axis S Error Code Number
_NC01S_DrvErr %FW35677 NC channel 01 Axis S Drive Error code Number

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9.5.6 Spindle Related Commands

The NC control of a motion controller sets information of the current speed of the NC channel spindle axis and provides
individual commands that support spindle operations such as gear conversion of the spindle axis.
(1) Spindle operation control (NC_SpindleControl)
1) operation(Described based on NC channel 1).
If the current speed of the spindle cannot be confirmed in the NC function module because there is no encoder in the
spindle axis or the speed information of the spindle axis is not registered, users use the function to transmit the speed
status of the spindle axis to the NC function module.
(a) Input of ‘Reaching Spindle Command Velocity (TgtVelReached)’
If the spindle axis is automatically operated in the NC function module, the ‘Signal to Confirm the Status of Reaching
Spindle Command Velocity’ (_NC01_SpindleCVelAgr) turns On if the relevant input is On after the spindle axis starts
operation at the target speed with M03 or M04.
(b) Input of ‘Reaching the Zero Velocity of the Spindle (ZeroVelReached)’
If the spindle axis is automatically operated in the NC function module, the ‘Signal to Confirm the Status of Reaching
the Zero Velocity of the Spindle’ (_NC01_SpindleZeroVel) turns On if the relevant input is On after M03 or M04 block
with the target speed of 0 is executed or M05 block is executed.
2) Function Block
The spindle operation control (NC_SpindleControl) function block is as follows:
Motion Function Block

NC_SpindleControl
BOOL Enable Enabled BOOL
UINT NcChannel NcChannel UINT
BOOL TgtVelReached Busy BOOL
BOOL ZeroVelReached Error BOOL
BOOL SS_Control ErrorID WORD

Input-Output
UINT NcChannel Designate the NC channel to give commands
Input
BOOL Enable While an input is enabled, conduct the specified operation on the main spindle
in the relevant channel.
BOOL TgtVelReached Convey whether the main spindle reaches the target speed to the NC control.
0: The target speed is not reached
1: The target speed is reached
BOOL ZeroVelReached Convey whether the main spindle reaches the zero speed to the NC control.
0: The zero speed is not reached
1: The zero speed is reached
BOOL SS_Control Start the SS control mode of the main spindle. (future support)
0: Start SS controls
1: End SS controls
Output
BOOL Enabled Indicate that the function block is performed.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is running.
For function block operation, see ‘6.8.22 Spindle Operation Control (NC_SpindleControl)’.

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(2) Spindle gear change (NC_ChangeSpindleGear)

1) Operation
The function is used to change parameter values related to gear conversion and to change the velocity of the spindle
axis at the speed that gear conversion can be conducted in order to change gears connected to the NC channel spindle
axis.
(a) ‘Setting of Velocity Values to Change’ (ChangeVelocity) Input
If the spindle gear conversion command is executed, the speed of the spindle axis is changed to the value set in
ChangeVelocity and the GearChangeEnable output turns On.
Users operate sequence programs to conduct gear conversion by confirming the GearChangeEnable output.
(b) ‘Signal to Complete Gear Conversion’ (GearChangeCmpl) Input
After the speed of the spindle axis is changed to the ChangeVelocity speed, users confirm if the GearChangeEnable
output is On and input On in ‘Signal to Complete Gear Conversion’ (GearChangeCmpl) after executing gear
conversion.
If the ‘Signal to Complete Gear Conversion’ (GearChangeCmpl) is On, set values of the following items set in the
function block input to parameters and operate the spindle with the changed setting.
a) Speed limit values (MaxVelocity)
b) Gear ratio of a motor (GearOfMotor)
c) Gear ratio of machine (GearOfMachine)
d) Backlash compensation amount (Backlash)
e) P gain in a position mode (P_Gain)
f) Feed Forward gain in a position mode (FF_Gain)

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2) Function Block
The spindle gear conversion (NC_ChangeSpindleGear) function block is as follows:
Motion Function Block

NC_ChgSpindleGear
BOOL Execute Done BOOL
UINT NcChannel NcChannel UINT
LREAL ChangeVelocity Busy BOOL
BOOL GearChangeCmpl Error BOOL
ErrorID WORD
LREAL MaxVelocity
UINT GearOfMotor GearChangeEnable BOOL

UINT GearOfMachine
LREAL Backlash
LREAL P_Gain
LREAL FF_Gain
LREAL Analog10Vrpm

Input-Output
UINT NcChannel Designate the NC channel to give commands
Input
BOOL Execute Give the spindle gear conversion command in the rising Edge of input.
LREAL ChangeVelocity Set the speed value to change
BOOL GearChangeCmpl The signal that gear changes have been completed.
Each input value is set to the relevant parameter after this input turns
On
LREAL MaxVelocity The maximum setting value for velocity parameters
UINT GearOfMotor The gear ratio parameter of a motor
UINT GearOfMachine The gear ratio parameter of machine
LREAL Backlash Backlash compensation amount (Backlash)
LREAL P_Gain P gain setting value
LREAL FF_Gain Feed forward gain setting value
LREAL Analog10Vrpm Disabled
Output
BOOL Done Indicate that the function block is successfully applied.
BOOL Busy Indicate that execution of the function block is not completed.
BOOL Error Indicates whether an error occurs or not.
WORD ErrorID Output the error number that occurred while the function block is
running.
BOOL GearChangeEnable Indicate whether to change gears
※ For function block operation, see ‘6.8.24 NC Spindle Operation Control (NC_ChgSpindleGear)’.

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9.6 NC 2 channel function

Two NC channels operating independently of each other can be operated simultaneously. The two NC channels can specify the
same or different NC programs and can be executed separately.

9.6.1 How to add NC channel 2

With the existing NC channel 1 added, as shown in the figure below, ‘Add Item - NC Channel… Click ’ to add NC channel 2.

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9.6.2 NC channel/axis connection of NC channel 2

Axis set in NC channel 1 cannot be duplicated in NC channel 2. Please set the axis not set in NC channel 1 to NC channel 2.
Because NC channels are independent, the channel axes of NC channel 1 (X, Y, Z, …, S) and the channel axes of NC channel
2 (X, Y, Z, …, S) have the same name but behave independently.

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9.6.3 Operation when writing NC program during run

Describes the operation when NC program write is executed during run depending on whether the NC channel program is
executed or not.

(1) If neither channel is running a program

If the NC program write function is executed during the run while neither channel is executing a program, the latest contents
entered in XG5000 are reflected in the internal NC program storage.

NC channel 1 NC channel 2

waiting waiting

NC program write execution

during run

NC channel 1 NC channel 2
Written program can be Written program can be
specified specified

(2) When a program is running on one channel

If the NC program write function is executed during the run while the program is being executed in one channel, the latest
content entered in XG5000 is reflected in the internal NC program storage, but the program of the currently running channel is
operated unchanged. You can assign NC program (NC_LoadProgram) the latest contents to a channel that is not running. Even if
the program with the same name as the running program in the running channel is modified, the previously running program is not
changed.

NC channel 1 NC channel 2

Executing program waiting

NC program write execution

during run

NC channel 1 NC channel 2
Continue running the Running program Written program can be
(Program to be written after completion can be
specified
specified)

(3) If both channels are running programs

If the NC program write function is executed during the run while both channels are running programs, the latest contents
entered in XG5000 are reflected in the internal NC program storage, but the programs of the two currently running channels are
operated unchanged. You can designate the latest contents of the NC program (NC_LoadProgram) from the channel where the
operation is completed to the channel that is not running. Even if the program with the same name as the running program in the
running channel is modified, the previously running program is not changed.

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NC channel 1 NC channel 2

Executing program Executing program

NC program write execution

during run

NC channel 1 NC channel 2
Continue running the Running Continue running the Running
program(Program to be written after program(Program to be written aft
completion can be specified) completion can be specified)

NC program during run depending on whether NC channel program is executed or not

9.6.4 NC 2 Channel Precautions

Describes the precautions for NC 2 channel.

(1) When using ‘PLC Erase’ function in XG5000 V4.60 or lower version
In XG5000 V4.60 or lower version, if NC parameters are erased by 'PLC Clear' function, even if NC parameters are written
again, 0x3100 (NC channel parameter data is abnormal), 0x3200 (NC channel/axis) The parameter data is abnormal.) error may
still occur. In this case, the error can be resolved by writing NC parameters using XG5000 V4.70 or higher version.

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Chapter 10 CPU Function

10.1 Task Design

10.1.1 Task Overview

There are 3 types of motion control tasks: main task, periodic task and initialization task.
Types of Number of
Motions
Tasks Programs
• It performs I/O refresh, processing of programs assigned to main task and motion
control.
• It performs the above tasks at a time for each of the established control period
(main task cycle).
Main task
• It has higher priority than periodic task.
• It uses programs that require synchronized control and high-speed operation
processing through allocation since it is possible to process program fast.
• Period possible to be set: 1ms, 2ms, 4ms
• It performs processing of programs assigned to main task.
• It is performed for the remaining time after implementation of main task operation
within the control period, and can be performed over multiple cycles.
Up to 256 • Since it has lower priority than main task in the execution of motion control
Periodic
commands within main task program, the motion control commands executed in the
task
main task program are processed first.
• It uses programs of processing other monitoring data and control of device that
doesn’t require high-speed processing through allocation.
• Period possible to be set: 1ms ~ 100ms (Set to a multiple of the main task cycle)
• It performs processing of programs assigned to the initialization task after
implementing I/O refresh.
Initialization • It is performed only once at the time of entering the RUN mode.
task • It is executed first when entering RUN mode. If the initial task completion
(_INIT_DONE) flag is set by the initialization task program, the task is completed,
and the execution of the main task and periodic task program starts.

(1) Main task and periodic task

Both the main task and the periodic task are executed at fixed intervals. The interval at which the main task
and periodic task are executed is called the ‘task cycle’. The main task can be set in cycles of 500㎲, 1㎳, 2㎳
and 4㎳, and the periodic task can be set in multiple of the main task cycle. However, the periodic task cycle
can be set in ㎳ unit.

In the task, 1 to 256 programs can be used. The programs are executed in the order in which they are
assigned.

I/O refresh refers to the exchange of data between the digital I/O module and the analog module. The I/O
refresh is performed at the beginning of the main task execution per cycle.

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(2) Task partitioning

All programs should be assigned to one task. Users are required to assign the task according to the
characteristics of the created program by referring to the table below.
Tasks Appropriate programs
• The execution cycle of I/O refresh should be strictly observed.
Main task • Highest execution priority
• High-priority motion control is included.
• Program that can be operated regardless of I/O refresh
Periodic task • Program that has lower execution priority than the main task and requires
periodic execution
• Execution is required prior to the main task program execution during the
Initialization task RUN operation
•Device initialization and initial value setting program

10.1.2 Task Specification

The specifications of the tasks are as follows.
Items Specifications
• Main task
Types of tasks • Periodic task
• Initialization task
Number of task programs • Up to 256
Main task cycle • 500 ㎲, 1 ㎳, 2 ㎳, 4 ㎳
Periodic task cycle • Can be set to a multiple of the main task from 1 to 100 ㎳
Initialization task cycle • Same as the main task cycle

Periodic task cycle that can be set depending on the main task cycle
Main task cycle Periodic task cycle that can be set
500 ㎲ 1㎳, 2㎳, 3㎳, 4㎳, 5㎳, … 95㎳, 96㎳, 97㎳, 98㎳, 99㎳, 100㎳
1㎳ 1㎳, 2㎳, 3㎳, 4㎳, 5㎳, … 95㎳, 96㎳, 97㎳, 98㎳, 99㎳, 100㎳
2㎳ 2㎳, 4㎳, 6㎳, 8㎳, 10㎳, … 92㎳, 94㎳, 96㎳, 98㎳, 100㎳
4㎳ 4㎳, 8㎳, 12㎳, 16㎳, 20㎳, … 84㎳, 88㎳, 92㎳, 96㎳, 100㎳

10.1.3 Basic Operation of Task

Several tasks of XMC-E32A cannot be executed at the same time. Each task is executed according to its
priority, and the main task program has higher priority than the periodic task program.

If the main task program execution cycle is reached during the execution of the periodic task program, the main
task program is executed. Therefore, while the main task program is executed in accordance with the cycle, the
periodic task program can be executed in several main task cycles. If you use the periodic task program, you
should write the program by referring to this point.

In addition, the cycle should be set so that the task program execution can be completed within the set period.
If the task exceeds the set period, a warning is issued. If the task execution is not completed until the periodic
error detection time, the system switches to the ERROR state.

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Main task period Main task period

Perform I/O Motion I/O Motion

Program Program
main task refresh control refresh control

Perform
Waiting Program Waiting Program
periodic task
Performance time of periodic task
Periodic task period

In the main task execution, the double line display after the program execution the motion control or
periodic task execution indicates that the task execution is completed.

(1) Cycle of main task and periodic task

The main task and periodic task are the ones that are executed repeatedly in cycles. Both tasks have a task
execution cycle, and the periodic task cycle can be set to a multiple of the main task cycle.

For example, if the main task cycle is 1㎳, and the periodic task cycle is 2㎳, the periodic task is executed
every time the main task is executed twice.

Main task period Main task period Main task period Main task period

Perfor m I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion
main task refres h m c ontrol refres h m c ontrol refres h m c ontrol refres h m c ontrol

Perfor m Prog Prog

Waiting Program Waiting Waiting Program Waiting
periodic task ram ram

Periodic task period Periodic task period

(2) Initialization task

The initialization task is executed until the initialization task execution completion (_INIT_DONE) flag is set
before the execution of the main task, and it is terminated when the user sets the _INIT_DONE flag in the
program. Only when the initialization task is terminated, the main task and periodic task programs are
executed. The initialization task cycle inherits the main task cycle.

Notice
If the initialization task execution completion (_INIT_DONE) flag is set by the user-written initialization task
program, the execution of the initialization task program is terminated, and the execution of the main task and
periodic task programs are started.
The initialization task operates in the main task cycle and is included in the main task execution time.

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When the initialization program execution is completed, and the initialization task execution is terminated as
shown below, the main task program and periodic task program are executed.

Main task period Main task period

Perform I/O Initial Motion I/O Initial Motion

refresh program control refresh program control
main task

Perform
periodic task Waiting Program

Periodic task period

10.1.4 Examples of Task Execution Sequence

Below are descriptions of the execution sequence for the main task and periodic task.

(1) If there is only main task program

Main task period Main task period Main task period Main task period

Perfor m I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion
main task refres h m c ontrol refres h m c ontrol refres h m c ontrol refres h m c ontrol

Perfor m
periodic task

Periodic task period Periodic task period

(2) If there main/periodic task programs

Main task period Main task period Main task period Main task period

Perfor m I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion
main task refres h m c ontrol refres h m c ontrol refres h m c ontrol refres h m c ontrol

Perfor m Prog Prog

Waiting Program Waiting Waiting Program Waiting
periodic task ram ram

Periodic task period Periodic task period

(3) If there is an initialization task program

Main task period Main task period Main task period Main task period

Perfor m I/O
Ini tial program
Mot ion I/O P rogra Mot ion I/O P rogra Mot ion I/O P rogra Mot ion
main task refres h c ontrol fref res h m c ontrol fref res h m c ontrol fref res h m c ontrol

Perfor m Prog
Waiting Program Waiting Waiting Program
periodic task ram

Periodic main period

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10.1.5 System Service Processing

System service includes the following services.

System Service Names Contents

USB service • Processing of service requests in XG5000
• Processing of service requests in XG5000
Built-in Ethernet port service • Communication (P2P) service processing
• FTP service processing
• SD memory card command execution
SD memory card service
• Data logging

The system service is executed after the completion of the main task or the periodic task and s run at an idle
time when the task is not running. The system service is executed in the shaded section as shown below.

Main task period Main task period Main task period Main task period

I/O I/O I/O I/O

Motion Motion Motion Motion
frefre Program frefre Program frefre Program frefre Program
control control control control
sh sh sh sh

Performance time of Performance time of Performance time of Performance time of

main task main task main task main task

The order of priority of the system service and each task is main task > periodic task > system service, and the
main task has the highest priority. When the main task execution cycle is reached while the system service is
running, the system service is paused, and the main task is executed. In addition, if the main task execution
cycle is reached while the system service is running, the system service is paused, and the periodic task is
executed. When the execution of both the main task and the periodic task is completed, the paused system
service is executed sub sequentially.

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10.1.6 Program Occupancy Rate Operation

Program occupancy rate refers to the ratio of the task execution time per second during the system RUN
operation. If there is only main task, the sum of the main task execution time is displayed as a percentage. If
there is a periodic task, the main task and periodic task execution time is calculated and displayed as a
percentage.

In the figure below, the program occupancy rate is currently 64%, which means that the main task and periodic
task are executed about 64% of the time for one second, and the system service is running for the remaining
time.

If there is no periodic task as shown below, the system service can be executed in the shaded section if the
main task execution is completed.

Main task period Main task period Main task period Main task period

I/O I/O I/O I/O

Motion Motion Motion Motion
frefre Program frefre Program frefre Program frefre Program
control control control control
sh sh sh sh

Performance time of Performance time of Performance time of Performance time of

main task main task main task main task

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If the program occupancy rate is high (system service occupancy rate is low) as shown below, the system
service may not be performed normally. In the basic parameter, a user can set the value ranging from 50 to 95%,
and if the set value is exceeded, the task program occupancy rate warning is generated. If the program
occupancy rate exceeds 100%, the system enters the ERROR state.

※ Adjust the main task cycle so that the program occupancy rate does not exceed 90%, if possible.

Main task period Main task period Main task period Main task period

I/O
I/O I/O I/O
refres Motion Motion Motion Motion
Program refres Program refres Program refres Program
h control control control control
h h h

If the cycle warning is generated as shown below, the program occupancy rate may increase.

History
Period
warning

Main task period Main task period Main task period Main task period

I/O I/O I/O

Motion Motion Motion
refres Program control
refres Program control
refres Program control
h h h

Performance time of main task

The value for setting the task program occupancy rate excess warning detection can be set from 50% to 95% in
the basic parameter settings.

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If the task program occupancy rate exceeds the set value, the task occupancy rate excess warning
(_TASK_PRM_USAGE_OVER_WAR) is generated. If the task program occupancy rate exceeds 100%, the
system state switches from RUN to ERROR, and the task program occupancy rate excess error
(_TASK_PRM_USAGE_OVER_ER) is generated.

The program occupancy rate is inversely proportional to the system occupancy rate. If the program occupancy
rate is 20%, the system occupancy rate is 80%. But if the program occupancy rate is 80%, the system
occupancy rate is 20%.

Program
occupancy rate

100%

System service

0 100% occupancy rate

The increase in the task program occupancy rate means that the main task and the periodic task occupy a large
portion in one cycle, and thus the time required for the system service execution is reduced. Please make sure
that the program occupancy rate does not exceed 95%. If it exceeds 95%, change the main task cycle.

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10.1.7 Task Setting Items

To execute the task program, the following task-related items should be set. Each item is reflected immediately
when the basic parameter items are transmitted. Even if the periodic cycle is not used, the cycle should be set.
For detailed descriptions of the basic parameter settings, refer to Section 10.2.1 Basic Parameter Settings.

Items Descriptions Setting Values Default

Main task cycle Sets the time for the main task 500 ㎲, 1 ㎳, 2 ㎳, 4 ㎳ 1㎳
Sets the time of the periodic task as the multiple
Periodic task cycle 1~100 ㎳ 10 ㎳
of the main task cycle
Sets the main task execution time when the
Main task cycle error 1~100 ㎳ 10 ㎳
main task is executed beyond the set time
Sets the periodic task execution time that
Periodic task cycle error causes an error when the periodic task is 10~1000 ㎳ 100 ㎳
executed beyond the set time
If the task program occupancy rate exceeds the
set value because there are many main task
programs or periodic task programs, the task
Task program occupancy
program occupancy rate warning is generated. If 50~95% 90%
rate warning
the task program occupancy rate exceeds
100%, the task program occupancy rate error
occurs, and it switches to the ERROR state.

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10.1.8 Methods on How to Use Variables between Tasks

Extra attention should be given when reading and writing the same global variables in the main task and the
periodic task.

If the value of %MW100 is read and written in the main task and periodic task programs as shown below, the
value of %MW100 will be changed continuously depending on the usage position in the periodic task.

① Write the value of %MW100 to 30 in the main task program

② The value of %MW100 is 30 when read from the periodic task
③ Write the value of %MW100 to 31 in the main task program
④ The value of %MW100 is 31 when read from the periodic task
⑤ Write the value of %MW100 to 32 in the main task program
⑥ The value of %MW100 is 32 when read from the periodic task

① =30 ⑥ =32
Write Read
%MW100
Write
⑤ =32
② =30
③ =31
④ =31
Read
Write
Read

Main task period Main task period

Main I/O
refre Program
Motion
I/O
refre Program
Motion
I/O
refre Program
Motion
control control control
task sh sh sh

Period Program Program Program

task

%MW100=30 %MW100=31 %MW100=32

Program 프로그램 수행
Program Program

Periodic task program

Since the value of %MW100 is continuously changed to 30, 31 and 32 in one cycle of the periodic task, the
value may be different depending on the location of the device use. If in the periodic task program, the value is
written in the global variable (example: %MW100) used in the main task program, the result of the main task
program operation may be affected.

※ Please be careful when programming to avoid using the same device between the main task program and the
periodic task program, if possible.

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10.1.9 Task Flags

Below are descriptions of the task flags.

Flag name Type Device Description

User program maximum execution occupancy
_PROGRAM_RATIO_MAX UINT %FW518
(1sec)
User program minimum execution occupancy
_PROGRAM_RATIO_MIN UINT %FW519
(1sec)
User program current execution occupancy
_PROGRAM_RATIO_CUR UINT %FW520
(1sec)

_PTASK_SCAN_WR BOOL %FX20486 Main task scan value initialization

_PTASK_CYCLE_WAR_NUM UINT %FW748 Main task period exceeded warning count

_PTASK_CYCLE_WAR BOOL %FX129 Main task period exceeded warning

_PTASK_SCAN_MAX UINT %FW512 Main task max. scan time(Unit:100 us)

_PTASK_SCAN_MIN UINT %FW513 Main task min. scan time(Unit:100 us)

_PTASK_SCAN_CUR UINT %FW514 Main task current scan time(Unit:100 us)

_CTASK_SCAN_WR BOOL %FX20487 Periodic task scan value initialization

_CTASK_CYCLE_WAR_NUM UINT %FW749 Periodic task period exceeded warning count

_CTASK_CYCLE_WAR BOOL %FX130 Periodic task period exceeded warning

_CTASK_SCAN_MAX UINT %FW515 Periodic task max. scan time(Unit:100us)

_CTASK_SCAN_MIN UINT %FW516 Periodic task min. scan time(Unit:100us)

_CTASK_SCAN_CUR UINT %FW517 Periodic task current scan time(Unit:100us)

_CTASK_CYCLE_ER BOOL %FX92 Periodic task period error

_PTASK_CYCLE_ER BOOL %FX91 Main task period error

_INIT_DONE BOOL %FX20496 Completion of initialization task

_INIT_RUN BOOL %FX24 Executing the initial task

_TASK_PRM_USAGE_OVER_WAR BOOL %FX135 Task program occupancy excess warning

_TASK_PRM_USAGE_OVER_ER BOOL %FX94 Task program occupancy excess error

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10.1.10 Task-Related Warning/Error

(1) Task cycle over warning

If the main task or the periodic task exceeds the cycle set by a user, the cycle over warning is generated. The
warning is stored in the error history.

History History
Period Period
waring waring

Main task period Main task period Main task period Main task period

I/O I/O
Motion Motion
refre Program refre Program
control control
sh sh

Performance time of main task Performance time of main task

Main task period : 1ms

Main task period error : 2ms

If the task execution is completed in the previous cycle as shown in the figure below, the history is stored. If
the cycle over warning is continuously generated, the cycle over warning history is saved only for the first
occurrence of the warning. The saved history can be checked in the error history.

History

Period Period Period

warning warning warning

Main task period Main task period Main task period Main task period

I/O
Motion
refre Program
control
sh

Performance time of main task

Main task period : 1ms

Main task period error : 2ms

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(2) Task cycle error

If the task is executed by exceeding the cycle error time set in the basic parameter, a cycle over error occurs.
Refer to Section 0 Task Program Occupancy Rate Excess Warning/Error for corrective actions taken in the
case of an error.

History
Period
error

Histroy

Period Period
warning warning

Main task period Main task period Main task period Main task period
RUN RUN RUN ERROR

I/O I/O I/O

Motion Motion
refre Program refre Program refre
control control
sh sh sh

Performance time
of main task

Main task period : 1ms

Main task period error : 2ms

(3) Program occupancy rate excess warning/error

In the basic parameter, the program occupancy rate excess warning detection setting value can be set to
50~95%. If it exceeds the value set by a user, the program occupancy rate excess warning is generated, and if
it is 100%, the program occupancy rate excess error occurs.

50~95%

0 100%

As shown in the figure below, if the program occupancy rate excess warning detection value of the basic
parameter is set to 70%, a warning is generated when the program occupancy rate ranges from 70 to 99%,
and an error occurs when it is 100%.

Histroy

Error
70% Waring

0 100%

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10.2 Parameter Setting

This section describes motion controller’s parameter setting.

10.2.1 Basic Parameter Setting

If you click the basic parameter in the project window, the below screen will be displayed.

You can set up 3 items; ‘Basic operation setting’, ‘Device area setting’, ‘Error operation setting’.

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Classification Items Descriptions Setting Values

Main task cycle Sets the time of the main task 500us, 1ms, 2ms, 4ms
1~100ms(a multiple of the main
Periodic task cycle Sets the time of the periodic task
task)
Sets the main task execution time that causes
Main task cycle
an error when the main task is executed 1~100ms
error
beyond the set time
Sets the periodic task execution time that
Periodic task cycle
causes an error when the periodic task is 10~1000ms
error
executed beyond the set time
If the task program occupancy rate exceeds
the set value because there are many main
task programs or periodic task programs, the
Task program
task program occupancy rate warning is
occupancy rate 50~95%
generated. If the task program occupancy rate
warning
exceeds 100%, the task program occupancy
Basic operations rate error occurs, and it switches to the
ERROR state.
Output
maintenance in Maintains output when Run->Stop transition is
Allowed/Prohibited
case of Run->Stop allowed
transition
Output
maintenance in Maintain output when Stop->Run transition is
Allowed/Prohibited
case of Stop  Run allowed
transition
Reset switch Sets whether or not to perform reset operation
Allowed/Prohibited
operation shutdown with the switch on the front panel of the product
Overall Reset Sets whether or not to perform the overall reset
switch operation operation with the switch on the front panel of Allowed/Prohibited
shutdown the product
Restart mode Selects restart mode Cold, Warm
Memory area Among %MW0~%MW1048575,
Retain area settings Sets the range to retain for the M area
settings 524,288 Word settings

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10.2.2 I/O Parameter Setting

It is the function to set up and reserve the information for each I/O. If you click 『I/O Parameter』in the project
window, the below setting window will be displayed.

If you click the 『Module』in the 『slot』 position, the list of each module will be displayed. Then, choose the
module that is matched with the actual system to be configured. The selected slot will be displayed as below.

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10.3 Self-Diagnosis Function

The Self-Diagnosis function is the function for the CPU part to diagnose the motion controller system for defects. In case
errors occur during supplying the power to the motion controller system or during operation, it detects errors to prevent
malfunction of the system and preventive maintenance.

10.3.1 Main Task/Periodic Task Cycle Error

Main task/periodic task cycle error is a function to a software error of the motion controller or a periodic error
caused by the user program.

(1) It is used to detect that the program is executed for the time that exceeds the user’s intended period due to an
operation delay caused by the main task/periodic task program error. The main task/periodic task cycle error
detection time is set in the basic parameters of XG5000 as shown below.

(2) While the program is running, the elapsed scan time is monitored, and if the set detection time is exceeded, the
operation of the motion controller is stopped immediately, and an error is generated.

(3) When the main task/periodic task error occurs, the error is cleared if the power is turned on again, or the mode is
switched to Stop mode

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10.3.2 Task Program Occupancy Rate Excess Warning /Error

If the occupancy rate of the program increases due to the execution of the main/periodic tasks, the system
service cannot be executed. To prevent this, this function allows the user to detect the task program occupancy
rate excess warning/error. (System service: Services, excluding the main/periodic/ initialization task)

(1) The task program occupancy rate excess warning is set in the basic parameter of XG5000 as follows.

(2) If the set occupancy rate is exceeded while monitoring the task program occupancy rate during the execution of
program, the task program occupancy rate excess warning is generated. If the task program occupancy rate is 100%
in the state where the warning occurs, the task program occupancy rate error is generated.

(3) The following measures are required when the task program occupancy rate warning/error occurs.
(a) Secure the time for the system service to operate by reducing the amount of the user program execution
within the main task/periodic task.
(b) Secure the time for the system servic to operate by increasing the execution cycle of the main task/periodic
task of the basic parameter.
(c) Increase the task program occupancy rate excess warning setting of the basic parameter.

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10.3.3 Error History Storage Function

The motion controller is designed to record the error history when errors occur, identify the cause of the errors
and correct them.
Click on the 『Online』-『Diagnostics』-『PLC Error/Warning』items of the menu to see the current errors
and error history. Please refer to the details and action contents for each error item and eliminate the cause of
error.

Items Descriptions Remarks

Error/Warning Displays the current error/warning -
Error history Displays the error/warning that occur in chronological order Save up to 100

Notice

The saved error history is deleted by clicking ‘Clear’ in the error/warning window.
If the error history exceeds 1,024, it is removed from the earliest history, and the latest 1,024 history is saved.

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10.3.4 Failure Management

(1) Failure Types
The troubles are caused by failure of the motion controller itself, system configuration’s error, error detection of
operational results, etc. They can be divided into the failure mode stopping the operation for system safety; minor
failure mode that informs a user of failure warning and resumes the operation.

The failures of the motion controller system are mainly caused by the below.

• Motion controller hardware’s problems

• Operational error during execution of user programs
• Detection of errors caused by external device failure

(2) Operation mode in case of failures

In case failures occur, the motion controller system records the failure details in the special flag (F area) and
determines whether resuming the operation based on the failure mode.

• In case of the motion controller hardware’s failure

In case there are problems with the motion controller, power, etc. that the motion controller cannot works
normally, the system will be stopped; In case of minor failures such as a battery’s low voltage, the warning
is displayed and the operation will be resumed.

• Computational error during execution of user programs

In case of the numeric operation error (Ex.: in case the denominator of division operation is 0) occurred
during execution of user programs, the details will be displayed in the error flag and the system will resume
the operation. If the operational time exceeds the operation delay monitoring set time during operation or
equipped I/O modules cannot be normally controlled, the system will be stopped.

• Detection of errors caused by external device failure

The failure of the external control device can be detected by the motion controller’s user program; in case
of detecting failures, the system will be stopped; in case of detecting minor failures, only the detection
status will be displayed and the operation will be continued. (For the detailed use of the function to detect
external device’s failures, refer to the 10.3.5 Failure Diagnosis Function for the External Device.)

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The information on failures occurrence is saved in the special relay (F area). Among F area flags, the
information related to the failures are as below.

Double
Bit Flag Name Function Description
Word
%FD0 %FX2 _ERROR Error Error status
Reports the failure status of the
- _CNF_ER System error
system.
External device Failures are detected from the
%FX70 _ANNUM_ER
failure external device.
There are some problems with the
%FX72 _BPRM_ER Basic parameters
basic parameters.
There are some problems with I/O
%FX73 _IOPRM_ER IO parameters
parameters.
Special module Abnormal special module
%FX74 _SPPRM_ER
parameters parameters
Communication Abnormal communication module
%FX75 _CPPRM_ER
module parameters parameters
There are some errors with the
%FX76 _PGM_ER Program error
program.
%FD2 %FX78 _SWDT_ER System Watch dog The system Watchdog works.
%FX80 _SWDT_ER System Watch dog The system Watchdog works.
Encoder parameter
%FX85 _ENCPRM_ER Abnormal encoder parameter
error
%FX86 _AXISPRM_ER Axis parameter Abnormal axis parameter
%FX87 _GROUPPRM_ER Axis group parameter Abnormal axis group parameter
%FX88 _ECPRM_ER EtherCAT parameter Abnormal EtherCAT parameter
%FX89 _NCPRM_ER NC parameter Abnormal NC parameter
%FX90 _NCPGM_ER NC program Error of NC parameter
%FX91 _PTASK_CYCLE_ER Main task Period error of main task
%FX92 _CTASK_CYCLE_ER Periodic task Period error of periodic task
%FX93 _SYSTEM_ER System error System error
_TASK_PRM_USAGE_ Occupancy rate over The task program occupancy rate
%FX94
OVER_ER error of task program exceeds 100%

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Double
Bit Flag Name Function Description
Word
Reports the minor failure status of
- _CNF_WAR System warning
the system.
%FX128 _RTC_ER RTC data error Abnormal RTC data
%FX129 _PTASK_CYCLE_WAR Main task Period warning of main task
%FX130 _CTASK_CYCLE_WAR Periodic task Period warning of periodic task
Shutdown caused by Stoppage caused by abnormal
%FX131 _ABSD_ER
abnormal operation operation.
%FD4
_MOTION_CONTRO_W Motion control
%FX132 Motion control function warring
AR warring
External device Minor failures are detected from the
%FX134 _ANNUM_WAR
failure external device.
Occupancy rate over
_TASK_PRM_USAGE_ The task program occupancy rate
%FX135 warring of task
OVER_WAR exceeds.
program
In case of calculation error, this is
%FX224 _ERR Calculation error
ON during 1 scan
When overall output is OFF, this is
%FX227 _ALL_OFF Overall output OFF
ON
Operational error It maintains 0 in case of operational
%FX229 _LER
latch error.
Array index range In case of range over error of array
%FD7 %FX247 _ARY_IDX_ERR
over index, this is ON during 1 scan
Array index range In case of range over error of array
%FX248 _ARY_IDX_LER
over latch index, this is ON during 1 scan
In case of over error of UDF stack,
%FX249 _UDF_STACK_ERR UDF stack over
this is ON during 1 scan
In case of over error of UDF stack,
%FX250 _UDF_STACK_LER UDF stack over latch
this is ON
Information on the
Displays the information on the
%FW202 - _ANC_ERR external device’s
external device’s failure
failure
Information on the
Displays the information on the
%FW203 - _ANC_WAR external device’s
external device’s minor failure
minor failure

Word Bit Flag Name Function Description

Information on the
Displays the information on the external
%FW1282 - _ANC_ERR external device’s
device’s failure
failure
Information on the
Displays the information on the external
%FW1283 - _ANC_WAR external device’s minor
device’s minor failure
failure

Notice

For more details on the whole flags, refer to the Appendix 1 Flag Table of the Outline of this manual.

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10.3.5 Failure Diagnosis Function for the External Device

It is the function to detect the failure of the external device connected to the motion controller to realize stoppage of the
system and warning easily. Through this function, you can detect the external device’s failure without complex
programming and can monitor the failure position without special devices (XG5000, etc.) or programs.
You can use the failure diagnosis function for the external devices as below.

(1) Failure types of external devices

• The failures of external devices are divided into the two types; failure (error) detected by combination of user
programs and special relay (F area) requires stoppage of the motion controller operation; minor failure
(warning) that continues the motion controller’s operation and displays the detection status only.

(2) Flag to detect failures of external devices

The following flag types are used to diagnose failures of external devices.

Word Bit Flag Name Function Description

Information on the
Input the error code of user-
%FW1282 - _ANC_ERR external device’s
defined serious failure of external
failures device.
Information on the
Input the error code of user-
%FW1283 - _ANC_WAR external device’s
defined minor failure of external
MINOR failures
device.
detection of external
It is On when the external device’s
- %FX70 _ANNUM_ER
serious errorserious failure occurs.
detection of external
It is On when the external device’s
- %FX134 _ANNUM_WAR
slight error minor failure occurs.
It is the command flag asking to
Request detection of
- %FX20482 _CHK_ANC_ERR detect the external device’s
external serious error
serious failure.
Request detection of It is the command flag asking to
- %FX20483 _CHK_ANC_WAR external slight error detect the external device’s minor
minor failure failure.

(3) How to detect the external device’s serious failures

The following programming is used to detect the external device’s serious failures.
(a) Save the error code that can be distinguished by external device’s serious failures in %FW1282
(_ANC_ERR) through the MOVE command as below. (Input the values excluding 0)
(b) In case the external device’s serious failures occur, %FX20482 (_CHK_ANC_ERR)flag will be On.
(c) When the main task program is completed, the motion controller checks whether %FX20482
(_CHK_ANC_ERR) is ON and detects serious failures.
(d) If the external device’s serious failures occur, the motion controller will be in error status and will stop the
operation. Then, %FX70 (_ANNUM_ER) is ON and %FX20482 (_CHK_ANC_ERR) flag is automatically Off.
All outputs works based on IO parameter’s emergency output settings.
(e) When failures occur, through XG5000, a user can figure out the causes of failures by monitoring %FW1282
(_ANC_ERR) flag.

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(4) How to detect the external device’s minor failures

The following programming is used to detect the external device’s minor failures.
(a) Save the error code that can be distinguished by external device’s serious failures in %FW1282
(_ANC_ERR) through the MOVE command as below. (Input the values excluding 0)
(b) In case the external device’s minor failures occur, %FX20483 ( _CHK_ANC_ERR)flag will be On.
(c) When the main task program is completed, the motion controller checks whether %FX20483
(_CHK_ANC_ERR) is ON and detects serious failures.
(d) If the external device’s minor failures occur, %FX134 ( _ANNUM_WAR)flag will be ON and continue to
operation. Then, %FX20483 (_CHK_ANC_ERR) is automatically Off.
(e) When minor failures occur, through XG5000, a user can figure out the causes of failures by
monitoring %FW20483 (_ANC_WAR)flag.
(d) If you input 0 again to %FW1283 (_ANC_WAR) after removing the causes of failures and turn
ON%FX20483 (_CHK_ANC_WAR) again, detection of minor failures is canceled.

10.3.6 Instantaneous Power Failure Protection Function

Instantaneous power failure is detected when the input power voltage supplied to the motion controller
becomes lower than the standard.
If the instantaneous power failure is detected, the following operation processing is performed.

Power Failure Time Operation Processing

1. If the instantaneous power failure occurs for the first time, the
Input internal timer starts, and the operation is performed (without
power
stopping) as before.
2. If the instantaneous power failure is canceled (within 20ms of the
Instantaneous power
Within 20ms reference time), the internal timer start-up is stopped, and the
operation is performed as before.
Input
power
1. If the power is not supplied during the excess of 20ms after the first
Instantaneous power
occurrence of the instantaneous power failure, restart operation is
Over 20ms performed in the same way as the power input.

Notice

Instantaneous power failure refers to the state where the voltage of the power supply specified by the motion
controller in the power condition is lowered as it exceeds the allowable fluctuation range, and the power failure
for a short time (several ms to dozens of ms) is called instantaneous power failure.

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10.4 RTC Function

The motion controller has the embedded clock (RTC) function that keeps running by battery backup even when the
power is off. The time data of the embedded RTC can be used for time management such as the system’s operating
history or failure history, etc. The RTC’s current time is updated every scan by the flags for the system’s operating
state information.

10.4.1 How to Use the RTC

(1) Reading/Setting clock data
(a) Reading the data from XG5000 and setting
1) Click『Online』-『Diagnosis』- 『motion controller information』.
2) Click the motion controller clock tab of『motion controller information』.

3) If you want to send the time of the PC to the motion controller, click ‘Synchronization with PC clock’
button.
4) If you want to set up the user defined time, after changing set values of the data and time box, click
‘Send to motion controller’.

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(b) Reading with the special relay

You can monitor the data by the special relay as shown in the below example.
Memory Flag name Function Data Description

%FB52 _RTC_TIME RTC data[]

_RTC_TIME[0] RTC data(year) h16 Year 2016

_RTC_TIME[1] RTC data(month) h11 November

_RTC_TIME[2] RTC data(day) h08 8th day

_RTC_TIME[3] RTC data(hour) h19 At 7 pm

%FB52~%FB59
_RTC_TIME[4] RTC data(minute) h12 12 minutes

_RTC_TIME[5] RTC data(second) h54 54 seconds

_RTC_TIME[6] RTC data(weekday) h02 Tuesday

_RTC_TIME[7] RTC data(a hundred years) h20 2000s(decade)

%FW30 _RTC_DATE RTC current date 2016-11-08 November 8, 2016

%FW31 _RTC_WEEK RTC current weekday 2 Tuesday

%FD16 _RTC_TOD RTC current hour 19:17:14.345 19:17:14.345

(c) Example of modifying clock data through the program

A user can set up the clock data through the program using RTC-SET function blocks as below.
Function block I/O variable Description

REQ It executes the function block in rising edge.

DATA Time data to input (Refer to the below table.)

DONE If the process is performed normally, 1 is output.

STAT In case of error, it outputs error codes.

Variable Details Example Variable Details Example

DATA[0] Year 16#16 DATA[4] Minute 16#30
DATA[1] Month 16#11 DATA[5] Second 16#11
DATA[2] Day 16#30 DATA[6] Day of Week -
DATA[3] Hour 16#12 DATA[7] Age 16#20
In case of 12:30:11, 30th, November, 2016, you do not need to input the separate day data since the
day of week corresponding to the date is automatically set up.

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(d) Example of modifying clock data through the system flags

You can set up the clock data by filling up the clock data in the below area and turning on %FX20480
(_RTC_WR) without using function blocks.

Memory Flag name Description

%FB2568 _RTC_TIME_USER Time to set
_RTC_TIME_USER[0] Time to set (year)
_RTC_TIME_USER[1] Time to set (month)
_RTC_TIME_USER[2] Time to set (day)
%FB2568~ _RTC_TIME_USER[3] Time to set (hour)
%FB2575 _RTC_TIME_USER[4] Time to set (minute)
_RTC_TIME_USER[5] Time to set (second)
_RTC_TIME_USER[6] Time to set(weekday)
_RTC_TIME_USER[7] Time to set (a hundred of years)

(e) How to express day of the week

Number 0 1 2 3 4 5 6
Day Sun. Mon. Tue. Wed. Thu. Fri. Sat.

(2) Time error

The RTC’s error may be different depending on usual temperature.

Operation temperature Maximum difference(Second/1 Day) General case(Second/1 Day)

0℃ -12.26 ~ -1.03 -6.64
25℃ -10.37 ~ 0.86 -4.75
55℃ -13.09 ~ -1.86 -7.47

Notice
• The clock data may not be stated when the product is sent out from a factory so you need to set up
clock data correctly before using the product.
• If you apply unavailable clock data to the RTC, it will not work normally.
Ex.) 25:00, 32th, 14 month
• In case the RTC stops due to battery problem or errors occur, when you input new clock data to the
RTC, the error will be cleared.

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10.5 Remote Function

In the motion controller, you can change the operation mode through the key switch attached to the module or
through communication. For remote operation, put the basic unit’s mode change switch on STOP position.

(1) The kinds of remote operations are as below.

• Access to XG5000 and operation through the USB port installed in the basic unit
• You can operate the other motion controllers connected to the network by using the motion controller’s communication
functions when XG5000 is connected to the basic unit.
• You can control the motion controller’s operation status with HMI software, etc. though the dedicated communication

(2) Remote RUN/STOP

• It is the function to execute RUN/STOP through communication modules through the outside.
• This convenient function can be helpfully used when the motion controller is installed in the bad palace to
operate or you need to RUN/STOP the CPU modules of a control panel from the outside.

(3) Remote reset

• It is the function to reset the CPU module by remote control when errors occur.
• 'Reset' and ‘Overall Reset’ are available.

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10.6 I/O Forced On/Off Functions

The forced I/O function is used to turn On/Off I/O areas by force regardless of the results of program execution.

10.6.1 Forced I/O Setting Method

Click『Online』-『 Forced I/O setting 』.

The below table represents the items related to the forced I/O setting.

Item Description Remarks

Movement of address You can select the base and slot.
Apply You can set the forced input and output Enable / Unable
Flag You can set the forced I/O Enable / Unable by bit.
Individual
Data You can set the forced I/O data (On/Off) by bit.
View variables/comments You can check the set input, output variables.
You can set the forced I/O Enable under the condition that the
Select All
whole I/O areas are On.
You can delete the forced I/O Enable under the condition that the
Delete All
whole I/O areas are Off.
Set device It displays the I/O area where even one bit is set.

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10.6.2 Time to Process the Forced I/O On/Off and Processing Method
(1) Forced input
When the forced input is set, among the data read from the input model at the time of Refresh, the data of the contact
set as the forced On/Off is replaced by the forced set data to update the input image area. Accordingly, during program
operation, among the actual input data, the forced set area is operated with the results replaced by the forced set data.

(2) Forced output

After completing the operation of user programs, at the time of output Refresh, among the data of the output
image areas including the operation results, the data of the contact set as the forced On/Off is replaced by the
forced set data, and then, they are output. Accordingly, in contrast with the forced input, in the case of the
forced output, the data of the output image area shows the same data with the program operation results but
the actual output changes by the forced output On/Off settings.

(3) Instructions to use the Forced I/O functions

• It work from the time of setting each I/O‘Enable’ after setting the forced data.
• Although the actual I/O modules are not equipped, the forced input can be set.
• In spite of Off  On of the power, change of operation modes and operation by the reset key.
The previously set On/Off data is stored in the motion controller.
• Even in STOP mode, the forced input and output data is not eliminated.
• When you try to set the new data from the beginning, cancel all settings of I/O by using ‘Delete All’ before
use.

(4) Operations in case of errors

• When errors occur after setting the forced output, it works based on「Output Hold when errors occur」 of
output control settings in the basic parameters and 「Emergency Output」 of the I/O parameters. In case of
error occurrence, if you select the emergency output as 「Clear」 after setting Output Hold when errors
occur」, the output is off when errors occur; if you choose 「Hold」, the output status will be maintained.

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10.7 Function Saving the Operation History

There are 5 types of operation history; error history, mode conversion history, power down history and system history. The
occurrence time, frequency, operating details of each event are saved in the memory and you can conveniently monitor the
data through XG5000. The operation history is saved in the motion controller unless it is deleted through XG5000.

10.7.1 Error History

It saves the error history occurred during operation.
• The error code, date, time, error details are saved..
• The histories can be saved up to 1,024 EA.
• It is automatically canceled when the memory backup is cleared due to the battery’s low voltage, etc.

10.7.2 Mode Conversion History

It saves the information on the changed mode and time when changing the operation mode.
• It saves the data, time, mode conversion details.
• The histories can be saved up to 1,024 EA.

10.7.3 Power Down History

On or Off time of the power is saved as the ON/OFF information.
• ON/OFF information, date and time are saved.
• The histories can be saved up to 2,048 EA.

10.7.4 System History

It saves the operation history of the system occurred during operation.
• The date, time and details of operation changes are saved.
• The histories related to system operation are saved; XG5000 operation information, change of the key switch position,
etc.
• The histories can be saved up to 1,024 EA.

10.7.5 Motion Error History

It saves the error history occurred during motion control.
• The error code, date, time, error details are saved..
• The histories related to system operation are saved; XG5000 operation information, change of the key switch position,
etc.
• The histories can be saved up to 2,048 EA.

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10.8 Program Modification during Operation(Modification during RUN)

You can modify the programs and communication parameters without stopping control operations during running
the motion controller. The below describes the basic modification method. For more details on Modification during
RUN, refer to the XG5000 manual.

The items that can be modified during RUN are limited to programs, network parameters.
You cannot modify adding tasks, deletion, parameters, etc. during RUN.

10.8.1 Modification Procedures during RUN

(1) It shows the currently running program.

(2) Click『Online』-『Start Modification During RUN』.

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(3) Then, the background color of the program window changes and it is converted into the mode of modification
during RUN.

(4) You can modify the program.

(5) When the modification of the program is completed, click 『Online』-『Write Modification During RUN』

(6) When Write Program is completed, click 『Online』-『End Modification During RUN』.

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(7) The background color of the program window changes into the original one and modification during RUN is
completed.

Notice

• For Modification of communication parameters during RUN, after changing the network configuration
items of XG5000 in the RUN status without going into the Modification during RUN menu, click
『Online』-『Write』 and choose ‘Network Parameter’ to execute Write.

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10.9 Read I/O Information

It is the function to monitor each module’s information comprising the motion controller system.

(1) If you click 『Online』-『Diagnosis』-『I/O Information』, the information of each module of connected
systems will be monitored.

(2) If you click ‘Detailed Information’ after choosing the module, the details on the module will be displayed.

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10.10 Monitoring Functions

It is the function to monitor the motion controller system’s general information.

(1) If you click 『Monitor』, the submenu will be displayed as below.

(2) The below table provides the descriptions on each item.

Items Descriptions Remarks
Changes every time you
Start/End monitor Specifies the startup and end of the monitor.
click
Suspend monitor Suspends the monitor.
Restart monitor Executes the suspended monitor again.
Monitor suspension It is the function to suspend the monitor when the set Restarts when you click
setting device’s value is matched with the conditions. ‘Restart Monitor’
Changing the current
Changes the currently selected device’s current value.
value
System monitor Monitors the current system’s general information.
Device monitor It is the function to monitor each device.
Trend monitor Monitors the set device’s trend.
Monitors the set device’s value when the event specified For more details, refer to
User event
by a user occurs. the XG5000 manual.
Data trace Traces the set device’s value.

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(a) Changing the current value

It is the function to change the current value of each selected device in the program window.

(b) Device monitor

It is the monitoring function by device.

(c) Monitor suspension setting

It is the function to stop monitoring when the set device value is matched.

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(d) Trend Monitor

It is the function to represent the set device value in a graphic form. The value represented on the graph
is not the data collected by the motion controller at the right timing but the value read from XG5000 through
the communication function. Accordingly, communication delay can occur so it may not be matched with the
actual data collected at the right cycle.
You are recommended to use the Trend Monitor function to check the rough data trend.

(e) Data trace

It is a function to collect device values set at the time of event set by the user or at a desired time and
monitor them with graph or data. Unlike trend monitor, it collects actual data at a sampling period set by the
user, and thus is used check actual data at a certain point in time.

1) Data Trace condition setting

2) Device setting
3) Data display

Note
For more details on the monitoring function, refer to XG5000 manual.

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10.11 Function to Delete All of the Motion Controller

The function to delete all of motion controller is the initialization function to delete all programs, parameters,
passwords, data stored in the motion controller.

(1) How to delete all of motion controller

(a) Click『Online』-『Reset/Clear』-『Clear PLC』.

(b) If you choose 『Yes』 in the dialog box, the window for selecting the connection method with the motion
controller to be deleted is created.

(c) If you select “Yes” in the confirmation window, the data value will be cleared to “0”. Since the parameter
may need a default value depending on the data, an error may occur after the erase operation. If an error
occurs, it is necessary to write the data as an initial value once.

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10.12 Built-in Input/Output Function

10.12.1 Input Filter Function

The motion controller’s input modules have the input filter function to prevent the external noise signal flowed
into the input signal. For more details on the input filter function, refer to the below.

(1) Purposes and Operations of the input filter function

Under the environment with serious noise or in the case of the equipment that is greatly affected by the input
signal’s pulse width, the system may receive incorrect input depending on the input signal status. To prevent
such incorrect input, the input filter function does not regard the signal that is shorter than the set time by a
user as input. In the case of the motion controller, you can set the input filter time in the range of 1ms~100ms.

The below timing chart represents the operations of the input filter function.

(2) Input filter setting method

(a) Click ‘I/O Parameter’ in project window of XG5000.

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(b) Select ‘Digital Input/Output (XMC-DN24)’ in I/O parameter setting window and double-click.

(c) Set the filter value.

Notice
When the filter value is set, the cycle of the main task should be set to a value smaller than the set filter
value.
For example, if the filter value is set to 3ms, the cycle of the main task should be set to 1ms or 2ms.

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10.12.2 Emergency Output Function

The XMC’s output module supports the emergency output function to determine whether maintaining the output
status of the output module or clearing it when the motion controller is stopped due to errors.
You can set the emergency output by 8 points. For more details on how to set the emergency output, refer to
the below.

(1) Output status setting in case of error

(a) Detect ‘Digital Input/Output (XMC-DN24)’ in I/O parameter setting window and double-click.

(b) Click output setting in case of error.

If you select [Clear] as the output setting when an error occurs, the output is turned off when the operation
is stopped due to an error that occurs in the motion controller. If you select [Hold], the output status is
maintained.

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10.13 Reading of Serial Number Information

It is a function to monitor serial number information of motion controller.

(1) It can be monitored as follows through variables.

Memory Flag name Data Description

_SERIAL_NUM Serial number data[]
_SERIAL_NUM[0] h08 Serial number 1~2th digit
_SERIAL_NUM[1] h08 Serial number 3~4th digit
_SERIAL_NUM[2] h08 Serial number 5~6th digit
_SERIAL_NUM[3] h08 Serial number 7~8th digit
_SERIAL_NUM[4] h08 Serial number 9~10th digit
_SERIAL_NUM[5] h08 Serial number 11~12th digit
_SERIAL_NUM[6] h08 Serial number 13~14th digit
_SERIAL_NUM[7] h08 Serial number 15~16th digit
_SERIAL_NUM[8] h08 Serial number 17~18th digit
%FB80 _SERIAL_NUM[9] h08 Serial number 19~20th digit
_SERIAL_NUM[10] h08 Serial number 21~22th digit
_SERIAL_NUM[11] h08 Serial number 23~24th digit
_SERIAL_NUM[12] h08 Serial number 25~26th digit
_SERIAL_NUM[13] h08 Serial number 27~28th digit
_SERIAL_NUM[14] h08 Serial number 29~30th digit
_SERIAL_NUM[15] h08 Serial number 31~32th digit
_SERIAL_NUM[16] h08 Serial number 33~34th digit
_SERIAL_NUM[17] h08 Serial number 35~36th digit
_SERIAL_NUM[18] h08 Serial number 37~38th digit
_SERIAL_NUM[19] h08 Serial number 39~40th digit

Ex) If the serial number is 123456789, the flag are displayed as follows
(The unused area of the serial number is displayed as 0)

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Chapter 11 Datalog Function

11.1 Overview
Motion controller comes with built-in datalog function. This chapter describes the specification and usage of the datalog
function.

11.1.1 Features
Using the motion controller internal datalog function, you can collect run data of motion controller and save them into a
SD memory card in the CSV (Comma-Separated Values) format just with a simple parameter configuration. The
function has the following features.

(1) Easy Motion Controller Device Data Saving

You can save motion controller’s various device data with just a simple parameter configuration. It eliminates the
need to construct a network to collect large volumes of run data, thereby saving system costs.

In addition, it eliminates problems that might be caused in network-based data collection, such as communication
cutoff or cable disconnection.

(2) Precise Data Collection

This function allows you to collect precise data for main task, by 1ms or in accordance with other various run
conditions.
In addition, you can use the trigger function to save data before/after the trigger. Or you can use the event function
to save data changes from the event occurrence. This allows for easy analysis of the system’s run status, which also
saves system maintenance costs.

(3) Large-volume Operation Data

The function supports up to 8GB SD memory card, which allows for saving run data over a long period of time

(4) FTP Interface

Files saved in the datalog can be read remotely using FTP, making it easier to verify data fluctuations.

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11.1.2 Part Names

The names of pars related to datalog function are as follows.

(1) Part names

② ①

③ ④

Names Description
① Status LED Indicates run status of SD memory and datalog.
② SD memory mounting slot A slot where SD memory is mounted.
The port is used when transmitting files using the FTP function of the
③ Internal Ethernet Port
internal Ethernet.
It is used for SD PWR ON, OFF or SD additional functions
④ SD CMD Button • Push the button for 0.7[sec] ~ 3[sec] : SD additional function
• Push the button above 3[sec] : SD PWR ON, OFF

(2) LED Indications

Names Description Specifications

Indicates motion controller
PWR Turns on during power ON.
power supply status
RUN Indicates motion controller run Turns on during RUN, and turns off at STOP, ERR.
Indicates motion controller
ERR Flashes when error occurs
error status
Turns on : SD card mounted, status normal
Indicates the status of SD
STATE Flashes : SD card mounted, error occurred (flashes at 2s interval)
memory mounted.
Turns off: SD card removed
Indicates SD card control Flashes : Reading or writing SD card (flashes at 100ms interval)
RD/WR
status Turns off : Access to SD card terminated

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11.1.3 Operation Sequence

Datalog is performed in the following sequence.

Start

Datalog function check Check datalog

- Check specification, feature of datalog

Install PADT Install XG5000 software to control motion controller

Datalog system configuration Configure the datalog system

- Check SD memory specification, and choose memory card
(Motion controller FAT 32, 32GB)

Wiring Wire power, input/output signal and controller and devices

Datalog parameter Set logging method, sampling time, trigger condition,

storage device, output SCV file and so on

Download parameter Set parameter by XG5000, download into motion controller

SD memory insert

Motion controller RUN Turn motion controller RUN mode

Data log condition occur

No
Check error code Normal?

Yes

Finish

Note

1. The SD memory should be formatted in FAT 32 format to be used for motion controller datalog function.
2. The maximum storage of SD memory supported is 32GB.

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11.1.4 Control Signal Flow

The datalog function saves the motion controller device values into the SD memory or exchanges the value with
external device or software, in accordance with the following data flow.

Motion
controller

Saving data file

CSV Format

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11.2 Performance Specifications

Items Specifications Note
Group Configuration Up to 16 groups
Configuration Data Up to 64 per group
Data Collection Type regular / trigger / event
Function File Format CSV
Configuration File Size Up to 16MByte
BIT, BYTE, WORD, DWORD, LWORD, SINT, INT, DINT, LINT
Data Type
USINT, UINT, UDINT, ULINT, REAL, LREAL, STRING
Save Data Type Decimal, Hexadecimal, Exponent, character string
Sampling Cycle Main-task Cycle, Designation Cycle, Designation Time
Sampling Object 64 per file
Regular Save Conversion Designate with File Size 10 ~ 16,384KB
File Timing Designate with No. of Save Lines 1,000~50,000
Conversion Maximum
256 per folder
No. of Files
Bit: elevation/descent
Single Condition
Word: small, big, same, different, big or same, small or same
Operation Condition AND, OR condition
Trigger Save Range Up to 69,905 data per group
Trigger Save
Conversion Designate with File Size 10 ~ 16,384KB
Files Timing Designate with No. of Save Lines 1,000~50,000
Conversion Maximum
256 per folder
No. of Files
Bit: ON, OFF, elevation, descent, transfer
Single Condition
Word: small, big, same, different, big or same, small or same
Operation Condition AND, OR condition
Event Save Conversion Designate with File Size 10 ~ 16,384KB
Files Timing Designate with No. of Save Lines 1,000~50,000
Conversion Maximum
256 per folder
No. of Files
Formatting Type Quick Format
Formatting
Cluster Size 32kByte
Function
Volume Label LSIS (fixed)
Power Input 2.7 ~ 3.6VDC
Card Size 15mm * 11mm * 1.0mm
Up to 32GB
Maximum Capacity
SD memory ( Only 8GB can be available for above 8GB memory size)
Micro SD, SDHC
Memory Type
(Recommended manufacturer: SanDisk, Transcend)
File System FAT 32

Note
SanDisk, Transcend SD memories are recommended for internal datalog. Use of SD memory from other
manufacturer may result in unexpected run. Please choose your SD memory card with caution.

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11.3 Specification Functions

Datalog function refers to storing device values of motion controller at a set interval or when the trigger condition occurs.
Thus collected data are saved into the SD memory card in CSV format.

Save data by folder

LOG1

CSV
(4) LOG2
ᆞᆞᆞ
CSV

SD memory card

Data
Abnormal occurrence value
(3)

CSV

(1)

Time
Buffer area

2012.12.19 15:30:31 1 14

2012.12.19 15:32:09 2 20
…
2012.12.19 15:35:12 4 15
….
2012.12.19 15:40:02 9 28
….
2012.12.19 15:55:12 11 18

(2)

11.3.1 Data Type and Device

You can save device memories using motion controller’s datalog function. When the clock function is normal, the
memory is saved along with the time information.
If the clock function is abnormal, the time information is saved as the default value, which is 2000/ 01/01 00:00:00.000.

(1) Data Type

The data types and character strings that can be saved using the internal datalog function of motion controller is as
follows.
Data Type Output Size (including ‘,’ BYTE)
BOOL 0 or 1 2
BYTE 00 ~ FF 3
WORD 0000 ~ FFFF 5
DWROD 00000000 ~ FFFFFFFF 9
LWORD 00000000 00000000 ~ FFFFFFFF FFFFFFFF 17
SINT -128 ~ 127 5
INT -32,768 ~ 32,767 7
DINT -2,147,483,648 ~ 2,147,483,647 12
LINT -576,460,752,303,423,488 ~ 576,460,752,303,423,487 21
USINT 0 ~ 255 4
UINT 0 ~ 65,535 6
UDINT 0 ~ 4,294,967,295 11

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Data Type Output Size (including ‘,’ BYTE)

ULINT 0 ~ 1,152,921,504,606,846,975 20
-3.402823466e+038 ~ -1.175494351e-038
REAL or 0 or 17
1.175494351e-038 ~ 3.402823466e+038
-1.7976931348623157e+308 ~ -2.2250738585072014e-308
LREAL or 0 or 24
2.2250738585072014e-308 ~ 1.7976931348623157e+308
STRING Fixed Character (up to 32 characters 33

ASCII ASCII ASCII ASCII

Indication Indication Indication Indication
Code Code Code Code
0x20 SP 0x2A * 0x3E > 0x7B {

0x21 ! 0x2B + 0x3F ? 0x7C |

English
0x41 ~
0x22 “ 0x2D - (upper 0x7D }
0x5A
case)
0x23 # 0x2E . 0x5B [ 0x7E ~

0x24 $ 0x2F / 0x5C \

0x30 ~
0x25 % Number 0x5D ]
0x39
0x26 & 0x3A : 0x5E ^

0x27 ‘ 0x3B ; 0x5F _

0x28 ( 0x3C < 0x60 `

English
0x61 ~
0x29 ) 0x3D = (lower
0x7A
case)

(2) Device Available for Saving

The devices that can be used to save files using the internal datalog function of motion controller are as follows.

Data Type Description Note

BOOL I, Q, M, K, A, F, U
WORD I, Q, M, K, A, F, U

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(3) Calculates data unit when saving buffer

The motion controller for data saving supported by internal datalog is BYTE. Therefore, operation of data that
accumulates inside the buffer during data collection is performed as follows.
(Unit: BYTE)
Type Calculation Unit
BOOL 1
BYTE 1
WORD 2
DWORD 4
LWORD 8
INT 2
SINT 1
DINT 4
LINT 8
UINT 2
USINT 1
UDINT 4
ULINT 8
REAL 4
LREAL 8
STRING 32

(4) Data Conversion

Data are collected in the following order, and converted into the set types.

(a) 2 WORD Data (DWORD, DINT, UDINT, REAL)

Ex) %MW0: 0x1234, %MW1: Converts to 0x0000  0000 1234
Sequence #2 #1
Device %MW1 %MW0

(b) 4 WORD Data (LWORD, LINT, ULINT, LREAL)

Ex) %MW0: 0x1234, %MW1:0x5678, %MW2:0x000, %MW3: Converts to 0x000  0000 0000 5678 1234
Sequence #4 #3 #2 #1
Device %MW3 %MW2 %MW1 %MW0

(c) Character String Conversion

- Unlike other types, character strings are saved up to 32 characters, and converted into 2 characters per word.
If a 0x00 value exists during conversion, conversion is performed up to that character string, and further
conversion is not performed.
Ex) 16 words without 0x00 32 characters
16 words with 0x00 character string converted up to 0x00
- When converting character strings, characters which do not correspond with ASCII (see 11.3.1) are all converted
to Null.
Sequence #16 #15 #14 … #1
Device %MW14 %MW13 … %MW0 %MW14

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Note
If the data are saved using the LINT type, the following may not be represented when verifying the data
through Excel.

☞ Actual save data

☞ Data verified through Excel

In such cases, you can view the normal data by reading the data using Word Pad.

Note
Float conversion, such as REAL type, supports IEEE754 standards as follows.

BIT 31 BIT 0
Sign (S) Exponent Fix
E) d
Decimal Point (F)

Sign (S): 1 BIT

Exponent (E): 8 BIT
Fixed Decimal Point (F): 23 BIT

Conversion Value:(-1)S Х (1+FХ2-23)Х2(E-127)

0< Exponent (E) < 255  integer

Exponent (E) = 0, Fixed Decimal Point (F) = 0  0 (ZERO)
Exponent (E) = 0, Fixed Decimal Point (F) > 0  Conversion value close to 0
Exponent (E) = 255, Fixed Decimal Point (F) = 0  INFINITY
Exponent (E) = 255, Fixed Decimal Point (F) > 0  NAN

Note

In case of REAL, LREAL types, –NaN, +NaN are saved for undefined data, and -INF, +INF character strings
are saved for data with infinite range.
Please verify the data save range before use.

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11.3.2 Data Save Method

The datalog function saves data using one of the three methods that follows.

(1) Regular Save

Regular Save refers to saving data at main task or at a set interval That is, data at the time of save condition are
saved, without considering the status before or after the save condition. This method is useful for collecting certain
data at a certain interval.

Save condition Save condition Save condition

occurrence occurrence occurrence

Time

Data
Current Current Current
value: 100 value: 60 value: 120

When a comparison condition occurs,

the data is saved

(2) Trigger Save

Trigger Save refers to saving a set number of data before and after the relevant point: the number of data are set
by parameter. This method is useful when you want to view data from a certain period before and after a certain
event.

Save condition Save condition

occurrence occurrence

Time
Trigger Trigger
Before value

After value Before value

Data
After value

When a comparison condition occurs,

the data of before and after value is saved

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(3) Event Save

Event Save refers to monitoring the device value collected, and saving the present data when a certain event
condition is satisfied. This method is useful for analyzing fluctuation of event values and timing by saving data
from the event occurrence to the event termination.

Save condition Save condition

occurrence Recovery occurrence Recovery

Time
Event Event

Data Event data value Event data value

When a comparison condition occurs,

the data is saved

11.3.3 Data Sampling Condition

The datalog function classifies the data save conditions and intervals as follows, depending on the parameter setting.

(1) Regular Save

The following are condition setting items for Regular Save.

Setting Operation Note

Save at every main task Data are saved after End of each main task
Save at certain interval Data are saved after END of each main task after lapse of set time
Save at certain time Data are saved after END of each main task after lapse of set time

(a) Save at every scan

When using the scan interval save method, data are collected after END of each main task. If the volume of
stored data is large, a scan watchdog timer error may occur.

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(b) Designation Cycle Save

It samples data when a set interval arrives.

(c) Designation Time Save

It samples data when a set interval arrives.

Note

1. The data collection is performed at the interval set by the parameter.

2. Each group has its buffer area, where certain data are collected an then saved into the SD memory.
3. In case of data loss, DLxx_Ovf flag will be on.

(2) Trigger Save

Save data in the preset number of collection data. The following are condition setting items for Regular Save.
Trigger
Device
Occurrence Operation Note
Set Condition
Condition
Saves data at elevation edge of set device bit value

Elevation

BIT
Condition Saves data at descent edge of set device bit value

Descent

Samples data at the elevation edge when Device Set condition

changes from FALSE (0) to TRUE (1).

Elevation

Word
Small
Condition
Samples data at the descent edge when Device Set Condition
changes from TRUE (1) to FALSE(0).

Descent

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Trigger
Device
Occurrence Operation Note
Set Condition
Condition
Samples data at the descent edge when Device Set Condition
changes from FALSE (0) to TRUE(1).

Elevation

Small or Same
Samples data at the descent edge when Device Set Condition
changes from TRUE (1) to FLASE(0).

Descent

Samples data at the elevation edge when Device Set Condition

changes from FALSE (0) to TRUE(1).

Elevation

Word Large
Condition Samples data at the descent edge when Device Set Condition
changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge when Device Set Condition

changes from FALSE (0) to TRUE(1).

Elevation

Large or Same
Samples data at the descent edge when Device Set Condition
changes from TRUE (1) to FALSE(0).

Descent

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Trigger
Device
Occurrence Operation Note
Set Condition
Condition
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE(1).

Elevation

Same
Samples data at the descent edge when Device Set Condition
changes from TRUE (1) to FALSE(0).

Descent

Word
Condition Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE(1).

Elevation

Different
Samples data at the descent edge when Device Set Condition
changes from TRUE (1) to FALSE (0).

Descent

Trigger occurrence condition is decided by main task END. If trigger occurs again when data sampling, the trigger is
ignored and data sampling keeps on

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(3) Event Save

Event Save runs with similar conditions to Trigger Save. Event Save refers to saving data when the event occurs,
until the conditions are not satisfied.
Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Saves data at elevation edge of set device bit value

Elevation

Saves data at descent edge of set device bit value

Descent

Saves data when set device bit value is transferred

Bit Transfer
Condition
or
Saves data when set device bit value is ON

ON

Saves data when set device bit value is OFF

OFF

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Small
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Small or Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Large
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Large or Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Not Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

When Event Save method is used, data are saved after END of each main task where the set bit condition occurred.
Event Save samples data at main task after the event occurs.

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11.3.4 Save Folder Structure

Data saved by datalog are saved in the following file structure.

(1) Folder Name: Folder name is fixed. Creating additional folder other than the structures show in in the Figure below
in the SD memory, datalog function does not show normal function. Please be careful.

(2) Data Save Folder: This folder saves log data generated by datalog. Each parameter setting group uses different
folders. The file names are created in accordance with the following rules. The data folder name can be as long as
32 characters (in case of English, no space). (The folder name indicated in the folder structure diagram is arbitrary.
Users can change the names.)

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11.3.5 CSV File Format

CSV files generated by datalog function follow the following specifications

Items Description
Separation Character Comma (,)
Line Change Code CR, LF(0x0D, 0x0A)
Character Code ASCII Code
Field Data Decimal, Hexadecimal, Exponent, character string
File Size Up to 16Mbyte

Header File

Data File

(1) Header File Structure

The header structure of datalog files saved in the SD memory is as follows
Remark Project Name
Remark Save File Name
Remark File Creation Time
Remark Motion Controller Type
Remark Datalog Save Type
Remark Data Conversion Type
Remark Device

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(2) Data File Structure

The internal structure of datalog files saved in the SD memory is as follows

First data row Data save time Index Data0 Data1 Data2 ... Data63

Second data row 2016/12/16/10:06:39.977 0 1 1 1 ... xx

Third data row 2016/12/16/10:06:39.978 1 1 1 1 ... xx

.
.
.

Last data row 2016/12/xx/xx:xx:xx.xxx 65535 x x x ... xx

Note
1. Index indicates the number of saved data
2. Data 0, Data 1, …, Data 63 indicate data names

Note
When you read a CSV file in Microsoft Office Excel, several data may be displayed in a single cell. This is
because you are required to use the “symbol as the text qualifier” when opening the CSV file in Excel. In this
case, if you open the CSV file in the following order, it will be displayed normally.
1. Select the text in the data menu after executing Excel and then select the CSV file you want to open
2. Select [Comma] as a separator and [None] as a text in the Text Wizard - Step 2 and then click Finish

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(3) Data File Item Description

(a) First Data Line
String Name Output Size (Word)
Temporary String Indicates date and time with fixed characters 5
Index String Indicates index name 2
1-64
Data String Outputs the data name designated at data setting
(Depends on parameter setting)

(b) Data Row Repeat

Column Name Output Size (Byte)

Date and Time String is output using the data output format set at CSV Output Setting.
24
Column Ex) 2014/09/17 10:15:20:243
Index Column Outputs counted numbers starting from 0 and up. 10
BOOL 0 or 1 2
BYTE 00 ~ FF 3
WORD 0000 ~ FFFF 5
DWORD 00000000 ~ FFFFFFFF 9
LWORD 00000000 00000000 ~ FFFFFFFF FFFFFFFF 17
SINT -128 ~ 127 5
INT -32,768 ~ 32,767 7
DINT -2,147,483,648 ~ 2,147,483,647 12
LINT -576,460,752,303,423,488 ~ 576,460,752,303,423,487 21
Data Column USINT 0 ~ 255 4
UINT 0 ~ 65,535 6
UDINT 0 ~ 4,294,967,295 11
ULINT 0 ~ 1,152,921,504,606,846,975 20
-3.402823466e+038 ~ -1.175494351e-038
REAL or 0 or 17
1.175494351e-038 ~ 3.402823466e+038
-1.7976931348623157e+308 ~ -2.2250738585072014e-308
LREAL or 0 or 24
2.2250738585072014e-308 ~ 1.7976931348623157e+308
STRING Fixed Character (up to 32 characters) 33

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11.3.6 How to Save CSV

Motion controller collects data whenever the sampling condition occurs, saves them into the SD memory as CSV files.
When the data meet file conversion time, motion controller generates a new file in the SD memory card to perform data
saving.

(1) File Conversion Test

Temporary files are converted to CSV files at the following points
At saving Setting Range
When the designated number of saves have been completed in the
5,000 ~ 50,000
temporary file
When the temporary file reaches the designated size 10KB ~ 16,384KB

(2) Operation in Case of Exceeding the Number of Save Files

When the number of maximum saved files set by the parameter is exceeded, the following run occurs in accordance
with the set runs in case of file excess.
Operation Setting in Case of Excess Operation Note
Maintains the latest history Overwrites and saves new data over the oldest file
Maintains the initial history Performs no more file saving

Note
In case the SD memory is not capable of saving 256 files and the storage is full, it maintains the initial history
saves file up to the full storage of SD memory, then stops data saving regardless of the the [History Setting]
value in the parameter and generate the error code 6(%KW522)

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11.3.7 Buffer Memory

Motion controller has an internal buffer memory for datalog function. Buffer memory refers to a volatile memory which
temporarily stores collected data before saving them into the temporary file in the SD memory.

Motion controller

In accordance with the set sampling condition, the collected data are stored in the buffer memory first and then saved
in to the temporary memory of the SD memory card when datalog condition occurs. Therefore, setting too fast data
sampling condition or sampling too much data, data loss can be caused by buffer memory excess.

In case of data loss, ‘C’ string is stored together with the loss data. In this case, adjust the storage period in the
datalog parameter, or reduce the amount of collected data to prevent data loss.

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11.3.8 Data Omission

Data omission refers to situation where normal data collection is not possible. If data collection interval is set too short,
data sampling might not be performed at every set interval, which in turn might cause data omission. Cases include the
following.

(1) Buffer Excess

If data sampling condition is set too fast or too much data are being sampled, the speed of saving buffer memory
values into the temporary file in the SD memory may be slower than the data collection speed, which causes the
buffer storage to be exceeded and data omission.

(2) Too Frequent File Conversion

Upon occurrence of file conversion condition, the temporary file should be converted to CSV file to create a new
temporary file. Meanwhile, the buffer memory values cannot be saved into the temporary file. Therefore, too frequent
occurrence of file conversion condition may cause the buffer memory storage to be exceeded, and thus leading to
data omission.

Motion controller

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11.3.9 Files Backup Cycle

Data collected by datalog are not directly saved into the SD memory. They are saved into the designated buffer, and
later saved in to the SD memory when a certain volume (4Kbyte) has been collected. When the data save interval is
long and the volume of data to collect is not large, it takes a lot of time to save data into the SD memory. If collected
data are saved only in the buffer before sudden shutoff or reset occurs, the saved data are all lost.

To prevent this, the collected data need to be saved into the data at certain intervals regardless of the storage. The
data saved into the SD memory is not lost even in case of sudden power change. Backup time can be set at from 1 to 5
seconds. However, setting too short backup time may affect datalog performance.

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11.4 Regular Save

Among internal datalog functions of motion controller, Regular Save runs in two methods: Main task Save and Save at
Designated Interval
Main task Saves refer to saving data at main task, and Save at Designated Interval refers to saving data at an interval set
by the user.

11.4.1 Save Method

(1) Operation Description
Among internal datalog functions of motion controller, Scan Saves refer to saving data at main task into the SD
memory. When using the scan interval save method, data are saved after END of each main task. The collected data
are accumulated in the motion controller internal buffer. When a certain amount is accumulated, these are saved into
the SD memory. If the set interval is too short or the data to collect is too large, a scan watchdog timer error may
occur due to increased data volume. Please be mindful of the scan watchdog setting of the basic parameter.

(2) Setting Method

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

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(b) Set the group to use on the datalog parameter window.

Note

It runs when both the datalog parameter and the datalog EN flag are set. In case either condition is omitted,
the datalog run will not progress. Please verify whether both the datalog parameter and the datalog EN flag
are set. (See 11.10, Flag List)

(c) Choose [Save at Every Scan] at the [Data Collection Method]

(d) Set the path, history setting and file conversion point at [Save Setting]

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(e) Set the data conversion type, storage device and name

(f) Connect the SD memory card, and turn on the Datalog Enable Flag (%KW8224) when the _DL_Rdy(%KX8800)
Flag is On to activate the function. Datalog will not be activated if the Enable Flag is ON while _DL_Rdy(%KX8800)
Flag is OFF.

The following are Enable Flags for each datalog group

Item Memory allocation Type Description
- %KW514 WORD Datalog Enable Flags
Group 00 Enable Flag
_DL00_Enable %KX8224 BOOL
1: Operation, 0: Stop
Group 01 Enable Flag
_DL01_Enable %KX8225 BOOL
1: Operation, 0: Stop
Group 02 Enable Flag
_DL02_Enable %KX8226 BOOL
1: Operation, 0: Stop
Group 03 Enable Flag
_DL03_Enable %KX8227 BOOL
1: Operation, 0: Stop
Group 04 Enable Flag
_DL04_Enable %KX8228 BOOL
1: Operation, 0: Stop
Group 05 Enable Flag
_DL05_Enable %KX8229 BOOL
1: Operation, 0: Stop
Group 06 Enable Flag
_DL06_Enable %KX8230 BOOL
1: Operation, 0: Stop
Group 07 Enable Flag
_DL07_Enable %KX8231 BOOL
1: Operation, 0: Stop
Group 08 Enable Flag
_DL08_Enable %KX8232 BOOL
1: Operation, 0: Stop
Group 09 Enable Flag
_DL09_Enable %KX8233 BOOL
1: Operation, 0: Stop
Group 10 Enable Flag
_DL10_Enable %KX8234 BOOL
1: Operation, 0: Stop
Group 11 Enable Flag
_DL11_Enable %KX8235 BOOL
1: Operation, 0: Stop
Group 12 Enable Flag
_DL12_Enable %KX8236 BOOL
1: Operation, 0: Stop
Group 13 Enable Flag
_DL13_Enable %KX8237 BOOL
1: Operation, 0: Stop
Group 14 Enable Flag
_DL14_Enable %KX8238 BOOL
1: Operation, 0: Stop
Group 15 Enable Flag
_DL15_Enable %KX8239 BOOL
1: Operation, 0: Stop

OFF the datalog Enable Flag to stop data saving.

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When the SD memory still has data to save, the Log Ending _DLxx_Stoping (%KX8963) flag turns ON, and back
to OFF once all data are saved.

Note
When using Main task save, set the datalog parameters by referring to main task performance cycle.
Setting too much data and too fast interval may cause data loss.
- Main task run time can be verified from the following menu.
[On-line] –[Diagnosis] – [motion controller Information] –[Performance Tab]

11.4.2 Save at Designated Interval

(1) Description of operation
Save at Designated Interval refers to saving data at intervals set by the user. It is different from Main task Save in
that the former collects data at certain intervals, and is capable of saving data that change at certain intervals at more
accurate points.

Save condition Save condition Save condition

occurrence occurrence occurrence

Time

Data
Current Current Current
value: 100 value: 60 value: 120

When a comparison condition occurs,

the data is saved

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(2) Setting Method

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

(b) Set the group to use on the datalog parameter window.

(c) Set save interval at [Data Collection Method] (Range: 1~32,767ms)

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(d) Set the path, history setting and file conversion point at [Save Setting]

(e) Set the data conversion type, storage device and name

(f) Connect the SD memory card, and turn on the Datalog Enable Flag (%KW8224) when the _DL_ Rdy(%KX8800)
Flag is On to activate the function. Datalog will not be activated if the Enable Flag is ON while _DL_ Rdy
(%KX8800) Flag is OFF.

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The following are Enable Flags for each datalog group

Item Memory allocation Type Description

- %KW514 WORD Datalog Enable Flags
Group 00 Enable Flag
_DL00_Enable %KX8224 BOOL
1: Operation, 0: Stop
Group 01 Enable Flag
_DL01_Enable %KX8225 BOOL
1: Operation, 0: Stop
Group 02 Enable Flag
_DL02_Enable %KX8226 BOOL
1: Operation, 0: Stop
Group 03 Enable Flag
_DL03_Enable %KX8227 BOOL
1: Operation, 0: Stop
Group 04 Enable Flag
_DL04_Enable %KX8228 BOOL
1: Operation, 0: Stop
Group 05 Enable Flag
_DL05_Enable %KX8229 BOOL
1: Operation, 0: Stop
Group 06 Enable Flag
_DL06_Enable %KX8230 BOOL
1: Operation, 0: Stop
Group 07 Enable Flag
_DL07_Enable %KX8231 BOOL
1: Operation, 0: Stop
Group 08 Enable Flag
_DL08_Enable %KX8232 BOOL
1: Operation, 0: Stop
Group 09 Enable Flag
_DL09_Enable %KX8233 BOOL
1: Operation, 0: Stop
Group 10 Enable Flag
_DL10_Enable %KX8234 BOOL
1: Operation, 0: Stop
Group 11 Enable Flag
_DL11_Enable %KX8235 BOOL
1: Operation, 0: Stop
Group 12 Enable Flag
_DL12_Enable %KX8236 BOOL
1: Operation, 0: Stop
Group 13 Enable Flag
_DL13_Enable %KX8237 BOOL
1: Operation, 0: Stop
Group 14 Enable Flag
_DL14_Enable %KX8238 BOOL
1: Operation, 0: Stop
Group 15 Enable Flag
_DL15_Enable %KX8239 BOOL
1: Operation, 0: Stop

OFF the datalog Enable Flag to stop data saving.

When the SD memory still has data to save, the _DLxx_Stoping (%KX8963) turns ON, and back to OFF once all
data are saved.

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11.4.3 Save at Designated Time

(1) Description of operation
Save at Designated Interval refers to saving data at Designated Time set by the user. It is different from Designed
Interval Save in that the former collects data at certain intervals, and is capable of saving data at more accurate
points.
Designated Time Designated Time Designated Time

Time

Data
Current Current Current
value: 100 value: 60 value: 120

When the designated time is,

the data is saved

(2) Setting Method

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]
This activates the datalog parameter setting window.

(b) Set the group to use on the datalog parameter window.

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(c) Set save interval at [Data Collection Method] (Range: 1~32,767ms)

(d) Select one of Every Year / Month / Week / Day / Hour / Minute

(e) Set the path, history setting and file conversion point at [Save Setting]

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(f) Set the data conversion type, storage device and name

(g) Connect the SD memory card, and turn on the Datalog Enable Flag (%KW8224) when the _DL_ Rdy (%KX8800)
Flag is On to activate the function. Datalog will not be activated if the Enable Flag is ON while _DL_ Rdy (%KX8800)
Flag is OFF.

The following are Enable Flags for each datalog group

Item Memory allocation Type Description
- %KW514 WORD Datalog Enable Flags
Group 00 Enable Flag
_DL00_Enable %KX8224 BOOL
1: Operation, 0: Stop
Group 01 Enable Flag
_DL01_Enable %KX8225 BOOL
1: Operation, 0: Stop
Group 02 Enable Flag
_DL02_Enable %KX8226 BOOL
1: Operation, 0: Stop
Group 03 Enable Flag
_DL03_Enable %KX8227 BOOL
1: Operation, 0: Stop
Group 04 Enable Flag
_DL04_Enable %KX8228 BOOL
1: Operation, 0: Stop
Group 05 Enable Flag
_DL05_Enable %KX8229 BOOL
1: Operation, 0: Stop
Group 06 Enable Flag
_DL06_Enable %KX8230 BOOL
1: Operation, 0: Stop
Group 07 Enable Flag
_DL07_Enable %KX8231 BOOL
1: Operation, 0: Stop
Group 08 Enable Flag
_DL08_Enable %KX8232 BOOL
1: Operation, 0: Stop
Group 09 Enable Flag
_DL09_Enable %KX8233 BOOL
1: Operation, 0: Stop
Group 10 Enable Flag
_DL10_Enable %KX8234 BOOL
1: Operation, 0: Stop
Group 11 Enable Flag
_DL11_Enable %KX8235 BOOL
1: Operation, 0: Stop
Group 12 Enable Flag
_DL12_Enable %KX8236 BOOL
1: Operation, 0: Stop
Group 13 Enable Flag
_DL13_Enable %KX8237 BOOL
1: Operation, 0: Stop
Group 14 Enable Flag
_DL14_Enable %KX8238 BOOL
1: Operation, 0: Stop
Group 15 Enable Flag
_DL15_Enable %KX8239 BOOL
1: Operation, 0: Stop
OFF the datalog Enable Flag to stop data saving.
When the SD memory still has data to save, the _DLxx_Stoping (%KX8963) turns ON, and back to OFF once all
data are saved.

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11.5 Trigger Save

Trigger Save refers to saving a set number of data before and after the relevant point: the number of data is set by
parameter. This method is useful when you want to view data from a certain period before and after a certain event.
When Event Save method is used, data are saved after END of each main task where the set bit condition occurred.
Save condition Save condition
occurrence occurrence

Time
Trigger Trigger
Before value

After value Before value

Data
After value

When a comparison condition occurs,

the data of before and after value is saved

Note

After selecting Trigger Save, if the first trigger condition occurs and another trigger condition occurs while
collecting data, the new trigger is ignored and the trigger reoccurrence flag value increases.

Note

If a trigger occurs after collecting one less than the number of sample blocks prior to the trigger, only the
number of blocks collected until then is stored, and the sample is started after the trigger. In this case, the
total number of blocks collected can be less than the total number of trigger blocks

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11.5.1 Trigger Condition

Trigger Save function runs under Single Condition, Multiple Condition. The setting item for single/multiple conditions
are as follows. Multiple Condition runs by connecting Single Condition using AND, OR. Up to 4 Single Conditions can
be set to form a condition. When the Trigger Condition occurs and data saving initiates, T character string is inserted
into the first data string to indicate the trigger starting point.

(1) Single Condition

Single Condition runs under [BIT Condition], [WORD Condition].

(a) BIT Condition

BIT condition checks the set device BIT value, and collects data by detecting trigger when the value is either
[elevation] or [descent].

(b) WORD Condition

Word Condition compares the set device with the input value, and converts them into TRUE or FALSE. If the set
device value satisfies the input condition, data are collected when the value is either [elevation] or [descent].
Ex) If set value is <50, elevation condition

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(c) Condition Description

Trigger Device Operation Note

Occurrence Set Condition
Condition
Saves data at elevation edge of set device bit value

Elevation

Bit
condition Saves data at descent edge of set device bit value

Descent

Saves data at the elevation edge of the relevant bit, when

the set word device value is smaller than the input set value

Elevation

Small
Saves data at the descent edge of the relevant bit, when the
set word device value is smaller than the input set value

Descent

Word
Condition

Saves data at the elevation edge of the relevant bit, when

the set word device value is smaller than or the same as the
input set value

Elevation

Small or Same
Saves data at the descent edge of the relevant bit, when the
set word device value is smaller than or the same as the
input set value
Descent

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Trigger
Device
Occurrence Operation Note
Set Condition
Condition
Saves data at the descent edge of the relevant bit, when the
set word device value is larger than the input set value

Elevation

Large
Saves data at the descent edge of the relevant bit, when the
set word device value is larger than the input set value

Descent

Saves data at the elevation edge of the relevant bit, when

the set word device value is larger than or the same as the
input set value
Elevation

Word
Condition
Large or Same
Saves data at the descent edge of the relevant bit, when the
set word device value is larger than or the same as the input
set value
Descent

Saves data at the elevation edge of the relevant bit, when

the set word device value is the same as the input set value

Elevation

Same
Saves data at the descent edge of the relevant bit, when the
set word device value is the same as the input set value

Descent

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Trigger
Device
Occurrence Operation Note
Set Condition
Condition
Saves data at the elevation edge of the relevant bit, when
the set word device value is different from the input set value

Elevation

Word
Different
Condition
Saves data at the descent edge of the relevant bit, when the
set word device value is different from the input set value

Descent

(2) Multiple Condition

Multiple condition refers to setting up to 4 single conditions and operating by performing the operations that fit the
conditions. At least two Single Conditions should be set. Trigger Save begins when operation with the set single
conditions satisfy the result. Multiple Condition runs under AND Calculation, OR Calculation.

Note

When less than 2 single conditions are set for trigger multiple condition, the following error message is
displayed.

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(a) AND Calculation

Trigger occurs when all relevant conditions are satisfied at a single main task.
The following figure shows an example of trigger save activated by trigger elevation and descent occurring within
the same main task cycle.

☞ When setting only with BIT condition

Condition Set Device Trigger Occurrence Condition

Condition 0 BOOL %MX1010
Condition 1 BOOL %IX1
Elevation
Condition 2 BOOL %MX2010
Condition 3 BOOL %QX130

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☞ When setting with combination of BIT and WORD conditions

Comparison Trigger Occurrence

Condition Set Value Set Device
Condition Condition
Condition 0 WORD < 50 %MW10
Elevation
Condition 1 BOOL %MX15

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(b) OR Calculation
Trigger occurs when even one condition is satisfied at a single main task. After selecting Trigger Save, if the
Trigger Condition is again satisfied before data saving is complete, the new trigger is ignored and the number of
collisions flag value increases.

☞ When setting only with BOOL condition

Condition Set Device Trigger Occurrence Condition

Condition 0 BOOL %MX1010
Condition 1 BOOL %IX1
Elevation
Condition 2 BOOL %MX2010
Condition 3 BOOL %QX130

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☞ When setting with combination of BIT and WORD conditions

Comparison Trigger Occurrence

Condition Set Value Set Device
Condition Condition
Condition 0 WORD < 50 %MW10
Elevation
Condition 1 BOOL %MX15

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11.5.2 Trigger Sample Block Calculation

During Trigger Save, data collection progresses for each sample block. Sample block refers to the unit of collected data
set by the datalog parameter, where sample refers to each data value. The number of trigger sample blocks and the total
number of samples are calculated as follows.

No. of sample blocks = Trigger Buffer Space1) / {(No. of set data2) * size of set data3)) +(RTC data size4))}
No. of stored samples = sample block * No. of set data

(1) Trigger Buffer Space: 64KB ~ 2,048KB /Group

(2) No. of Set Data 64 (Maximum)
(3) Size of Set Data
Unit: Byte
Data Type Data Size
BOOL 1
BYTE 1
WORD 2
DWORD 4
LWORD 8
INT 2
SINT 1
DINT 4
LINT 8
UINT 2
USINT 1
UDINT 4
ULINT 8
REAL 4
LREAL 8
STRING 32

Ex)
- Set the buffer memory: 128KB
- Number and type of setting data: 64 (BYTE)

Max. No. of sample blocks that can be set:

131,072 / { (64 * 1) + 29 } = 1409 sample blocks

(4) RTC size of data: 29 (fixed value)

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11.5.3 Trigger Sample Calculation

The item that can be set at the parameter is the total number of trigger sample blocks and the number of sample blocks
before trigger condition. The number of sample blocks after trigger is determined by the two input values

Total Number of Trigger = Number of Samples before + Number of Samples after

Samples Trigger Condition Trigger Condition
(Setting Available) (Setting Available) (Setting Available)

11.5.4 Trigger Sample Save Cycle

When Trigger Condition occurs, data collected are saved at the sampling interval set by the parameter.
The saving interval is as follows.

 Main task interval, 20ms, 50ms, 100 ms, 200 ms, 500 ms, 1000 ms, 2000 ms

Caution

After selecting Trigger Save, if the Trigger Condition is again satisfied before data saving is complete, the new
trigger is ignored and the trigger collisions number flag value increases. Trigger Condition is checked after
saving the set number of trigger sample blocks, and then the data are saved.

11.5.5 Trigger Sample Save Section

(1) If Trigger occurs after the number of previous data set by the parameter
 Saves data in the number set by the parameter

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(2) If Trigger occurs before the number of previous data set by the parameter
 Saves data in the number of transfer data collected, and then collects subsequent data
(Saves less number of data than the number set by the parameter)

11.5.6 Setting Method

(1) Single BIT Condition

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

(b) Set the group to use on the datalog parameter window.

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(c) Select [Trigger Logging] at [Data Collection Method] to activate [Setting] menu on the left.
Then, select the [Setting] menu on the left.

(d) Upon selection, the following window is activated for trigger setting.
Select [Single Condition] as the Trigger Condition. Select either [Elevation] or [Descent] as the Trigger
Occurrence Condition.

(e) Select the condition setting menu to activate the following setting window.
Select [BIT Condition], and input device values into the device window in BIT types.

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When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu
are displayed as follows.

(f) Select Trigger Occurrence Condition value.

(g) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting.
See [11.5.2 Trigger Sample Block Calculation] for operation of number of sample blocks.

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(h) Device values set at the Datalog Basic Setting window are collected, and saved into the SD memory after type
conversion.

(2) Single WORD Condition

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

(b) Set the group to use on the datalog parameter window.

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(c) Select [Trigger Logging] at [Data Collection Method] to activate [Setting] menu on the left.
Then, select the [Setting] menu on the left.

(d) Upon selection, the following window is activated for trigger setting.
Select [Single Condition] as the Trigger Condition. Select either [Elevation] or [Descent] as the Trigger
Occurrence Condition.

(e) Select the condition setting menu to activate the following setting window.
Select [Word Condition], and input device values into the device window in BIT types, and input comparison
condition and comparison values
☞ Comparison Condition: Large, Large or Same, Same, Small, Small or Same, Not Same.

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When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu
are displayed as follows.

(f) Select Trigger Occurrence Condition value.

(g) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting.
See [11.5.2 Trigger Sample Block Calculation] for operation of number of sample blocks.
(h) Device values set at the Datalog Basic Setting window are collected, and saved after type conversion.

Caution

When inputting single, word condition set values, set device type as [BIT] and [WORD], respectively.

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(3) Multiple AND Condition

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

(b) Set the group to use on the datalog parameter window.

(c) Select [Trigger Logging] at [Data Collection Method] to activate [Setting] menu on the left.
Then, select the [Setting] menu on the left.

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(d) Upon selection, the following window is activated for trigger setting.
Select [Multiple Condition] as Trigger Condition, Select either [Elevation] or [Descent] as the Trigger Occurrence
Condition.

(e) Select [Trigger Condition] and [Multiple Condition] to activate the condition setting window which allows for up to
4 inputs.

(f) Select each condition setting menu one by one, inputting specific set values.
[Multiple Condition] activates Trigger Condition by combining [Single Conditions] through operation to save data.
As described below, the basic setting method is the same as that of Single Condition.

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When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu
are displayed as follows.

If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the following
phrase is displayed and the setting is not complete.

(g) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting.

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(h) Device values set at the Datalog Basic Setting window are collected when the Trigger Condition occurs,
converted into the set type, and saved into the SD memory.ion.

(4) Multiple OR Condition

[Trigger Setting] is identical to the [Multiple AND Calculation] above.

(a) Select each condition setting menu one by one, inputting specific set values.
[Multiple Condition] activates Trigger Condition by combining [Single Conditions] through operation to save data.
As described below, the basic setting method is the same as that of Single Condition.

When setting is complete, the window closes and the conditions initially set at the Trigger Setting Condition menu
are displayed as follows.

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If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the following
phrase is displayed and the setting is not complete.

(b) Input sampling interval, total number of samples and number of samples after trigger, then finish Trigger setting.

(c) Device values set at the Datalog Basic Setting window are collected when the Trigger Condition occurs,
converted into the set type, and saved into the SD memory.

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11.6 Event Save

Event Save refers to monitoring the device value collected, and saving the present data when a certain event condition is
satisfied. This method is useful for analyzing fluctuation of event values and timing by saving data from the event
occurrence to the event termination. Event Save refers to saving data when the event occurs, until the conditions are not
satisfied.
Save condition Save condition
occurrence Recovery occurrence Recovery

Time
Event Event

Data Event data value Event data value

When a comparison condition occurs,

the data is saved

Note

After selecting Trigger Save, if the first trigger condition occurs and another trigger condition occurs while
collecting data, the new trigger is ignored.

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11.6.1 Event Condition

Event Save function runs under Single Condition, Multiple Condition. The setting item for single/operation conditions are
as follows. Multiple Condition runs by connecting Single Condition using operation. Up to 4 Single Conditions can be set
to form a condition. When the Trigger Condition occurs and data saving initiates, E character string is inserted into the
first data string to indicate the event occurrence.

(1) Single Condition

Single Condition runs under BIT Condition, WORD Condition.

(a) BIT Condition

BIT condition checks the set device BIT value, and collects data by detecting trigger when the value is either
[elevation], [descent], [transfer], [ON], or [OFF].

(b) WORD Condition

Word Condition compares the set device with the input value, and converts them into TRUE or FALSE. If the set
device value satisfies the input condition, saves data when the value is [elevation], [descent], [transfer], [ON], or
[OFF].

Ex) If set value is >50, elevation condition

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(c) Release Value Setting

Among Event Save functions, release value setting can be done only in WORD Condition. It affects data save
interval and frequency. Once the release value is set, the condition after event occurrence saves data until the
release value is satisfied.
Do Not Use Release
Use Release Value Setting
Value Setting
%MW0 > 100 ☞ Release Value Setting 50
Saves data until the setting value after event
%MW0 >= 100 occurrence is 50
%MW0 == 100 Release Value Cannot be Set Saves data until the
☞ Release Value: 120
condition is met after
%MW0 < 100 event occurrence
Saves data until the setting value after event
%MW0 <= 100 occurrence is 120
%MW0 <> 100 Release Value Cannot be Set

Note

Release value can be set as follows. If the following is not complied with, an error window will appear
and data input will not work. Check it when setting the parameter.
☞ Release value many not overlap with the range of set values.
Condition Range of Release Value
Large Set Value >= Release Value
Large or Same Set Value > Release Value
small Set Value <= Release Value
Small or Same Set Value <= Release Value
Same
Setting Available
Not Same

Example 1) In the word condition, if the value is set to %MW0>100, and the cancelation value is set to 50.
☞ If %MW0 exceeds 100, an event occurs, and the data is saved. However, since the cancelation value is set to
50, the data storage is performed until it reaches 50.

☞ When the condition is met, the data is saved at the point of time set in the even occurrence condition.
[Rise], [Fall], [Transition] conditions store 1 block of data by operation, and [ON],[OFF] conditions store data
until the conditions are not met by the level operation.

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Example 2) In the word condition, if the value is set to %MW0<50, and the cancelation value is set to 200
☞ If %MW0 is less than 50, an event occurs, and the data is saved. However, since the cancelation value is set
to 200, the data is saved until it reaches 200.

(d) Condition Description

Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Saves data at elevation edge of set device bit value

Elevation

Saves data at descent edge of set device bit value

Descent

Saves data when set device bit value is transferred

Bit Transfer
Condition
or
Saves data when set device bit value is ON

ON

Saves data when set device bit value is OFF

OFF

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Small
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Small or Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Large
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Large or Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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Trigger Release
Device
Occurrence Operation Value
Set Condition
Condition Setting
Samples data at the elevation edge when Device Set Condition
changes from FALSE (0) to TRUE (1).

Setting
Elevation
Available

Samples data at the descent edge when Device Set Condition

changes from TRUE (1) to FALSE (0).

Descent

Samples data at the elevation edge or descent edge

Word
Transfer Not Same
Condition

Samples data when Device Set Condition is TRUE (1)

ON FALSE(0) TRUE(1)

Ex) Ex)
Device value ≥ Set value Device value < Set value
Device value = Set value
Device value > Set value

Samples data when Device Set Condition is FALSE (0)

OFF TRUE(1) FALSE(0)

Ex) Ex)
Device value < Set value Device value ≥ Set value
Device value = Set value
Device value > Set value

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(2) Multiple Condition

Multiple Condition refers to setting up to 4 single conditions and operating by performing the runs that fit the
conditions
Event condition occurs when operation with the set condition satisfies the result

Setting Operation Note

AND Condition Performs AND run with the set conditions, and saves data when the result is 1.
OR Condition Performs OR run with the set conditions, and saves data when the result is 1.

(a) AND Calculation

Event occurs when all relevant conditions are satisfied at a single scan. The following is an example of activating
Event Save.

☞ When setting only with BIT condition

Condition Set Device Event Occurrence Condition

Condition 0 BOOL %MX1010
Condition 1 BOOL %IX1
Elevation
Condition 2 BOOL %MX2010
Condition 3 BOOL %QX130

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☞ When setting with combination of BIT and WORD conditions (no release value set)

Event
Comparison Set Release
Condition Set Device Occurrence
Condition Value Value
Condition
Condition 0 Word < 50 - %MW100
Elevation
Condition 1 BOOL %MX15

☞ When setting with combination of BIT and WORD conditions (release value set)

Event
Comparison Set Release
Condition Set Device Occurrence
Condition Value Value
Condition
Condition 0 WORD < 50 100 %MW100
Elevation
Condition 1 BOOL %MX15

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(b) OR Calculation
Event occurs when even one condition is satisfied at a single main task. After selecting Trigger Save, if the
Trigger Condition is again satisfied before data saving is complete, and the trigger reoccurrence flag value
increases.

☞ When setting only with BIT condition

Condition Set Device Event Occurrence Condition

Condition 0 BOOL %MX1010
Condition 1 BOOL %IX1
ON
Condition 2 BOOL %MX2010
Condition 3 BOOL %QX130

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☞ When setting with combination of BIT and WORD conditions (no release value set)

Event
Comparison Release
Condition Set Value Set Device Occurrence
Condition Value
Condition
Condition 0 WORD < 50 - %MW10
Elevation
Condition 1 BOOL %MX15

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☞ When setting with combination of BIT and WORD conditions (release value set)
Event
Comparison Release
Condition Set Value Set Device Occurrence
Condition Value
Condition
Condition 0 Word < 50 100 %MW10
ON
Condition 1 BOOL %MX15

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11.6.2 Setting Method

(1) Single BIT Condition

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

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(b) Set the group to use on the datalog parameter window.

(c) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left.
Then, select the [Setting] menu on the left.

(d) Upon selection, the following window is activated for event setting.
Select [Single Condition] as the Event Condition.

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(e) Select the condition setting menu to activate the following setting window.
Select [BIT Condition], and input device values into the device window in BIT types.

When setting is complete, the window closes and the conditions initially set at the Event Setting
Condition menu are displayed as follows.

(f) Select the timing of data saving at the Event Occurrence Condition. The number and timing of data change
depending on the set value.

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(2) Single WORD Condition

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

(b) Set the group to use on the datalog parameter window.

(c) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left.
Then, select the [Setting] menu on the left.

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(d) Upon selection, the following window is activated for event setting.
Select [Single Condition] as the Event Condition.

(e) Select the condition setting menu to activate the following setting window.
Select [WORD Condition], and input device values into the device window in BIT types.

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When setting is complete, the window closes and the conditions initially set at the Event Setting Condition menu
are displayed as follows.

(f) Select the timing of data saving at the Event Occurrence Condition. The number and timing of data change
depending on the set value.

(3) Multiple AND Condition

(a) Choose XG5000 – [Project Window] - [internal parameter] - [datalog]

This activates the datalog parameter setting window.

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(b) Set the group to use on the datalog parameter window.

(c) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left.
Then, select the [Setting] menu on the left.

(d) Select the timing of data saving at the Event Occurrence Condition and set the operation condition to AND
operation. The number and timing of data change depending on the set value and Time.

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(e) Select [Event Condition] and [Multiple Condition] to activate the condition setting window which allows for up to 4
inputs.

(f) Select each condition setting menu one by one, inputting specific set values. [Multiple Condition] activates Event
Condition by calculating [Single Conditions] using the set run method. The basic setting is performed in the same
way as Single Condition.

(g) When setting is complete, the window closes and the conditions initially set at the Event Setting Condition menu
are displayed as follows.

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If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the
following phrase is displayed and the setting is not complete.

(4) Multiple OR Condition

(a) The same sequence as [AND Calculation Condition] applies up to the [Event Setting] menu.
(b) Select [Event Logging] at [Data Collection Method] to activate [Setting] menu on the left. Then, select the [Setting]
menu on the left.

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(c) Select [Event Condition] and [Multiple Condition] to activate the condition setting window which allows for up to 4
inputs.

(d) Select the timing of data saving at the Event Occurrence Condition and set the operation condition to OR
operation. The number and timing of data change depending on the set value.

(e) Select each condition setting menu one by one, inputting specific set values. [Multiple Condition] activates Event
Condition by calculating [Single Conditions] using the set run method. The basic setting is performed in the same
way as Single Condition.

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(f) When setting is complete, the window closes and the conditions initially set at the Event Setting Condition menu
are displayed as follows.

(g) If only one [Condition Setting] is input after selecting Calculation Condition before finishing the setting, the
following phrase is displayed and the setting is not complete.

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11.7 Additional Functions

This section provides detailed description of additional functions of internal datalog

11.7.1 File Save History Setting

When the maximum number of files are saved into the datalog, file save changes depending on whether [Overwrite
with Latest History] or [Maintain First History] is chosen at the [History Setting

Overwrite with the latest history Maintains the initial history

☞ Saves data in the maximum number of saved files (256 ☞ Saves data in the maximum number of saved files
files/folder), and then goes back to the beginning to delete (256 files/folder), and then stops file saving.
old files, and save the latest history. ☞ If the 10% or less of the SD memory storage is
☞ When the maximum files are saved after selecting free, stops file saving.
[Overwrite with Latest History], the file save excess flag
value increases. (See 5.10, Flag List)
☞ If the 10% or less of the SD memory storage is free, the
data are written over the file first saved.
☞ The overwritten file has the same size as the previous
one.

Setting Method

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11.7.2 Formatting Function

Internal datalog supports SD memory formatting function. SD memory formatting is done through XG5000.
SD memory formatting is supported only when motion controller is in STOP mode.

(1) Formatting Specifications

The SD memory formatting supported by datalog has the following specifications.

Item Set Specifications

FileSystem1) FAT32
Supported SD memory Capacity2) 2GByte ~ 32GByte
Allotted Cluster Size3) 32KByte (512 Sector4) x 8)
Volume Label5) LSIS (fixed)
Motion controller Operation Mode6) STOP (REMOTE available)
Formatting Mode7) Fast Formatting

(a) File System: Rules of Saving Files into Disk

(b) Supported SD memory Capacity: MMC card not supported, 2GByte~ 32GByte SD memory supported
(Micro SD, SDHC supported)
(c) Allotted Cluster Size: 32kByte
(d) Sector: Minimum Unit for Data Saving (Default: 512 Byte)
(e) Volume Label: SD memory Card Name
(f) Motion Controller Operation Mode: Operates only in STOP mode
(g) Formatting Mode: Fast-formats the SD memory only deletes the FAT and directory area within the file system.

Note

1. When performing [Formatting Function] at motion controller, all contents within the SD memory are
deleted, followed by creation of a folder with the name set by the parameter.
2. If the SD card file system is not FAT32, the format function is not supported in the XG5000. In an
attempt to format the SD card other than FAT32, a warning window “No file system other than FAT32 is
supported” is created. Please use after formatting to FAT32 in PC

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(2) Execution

(a) Select XG5000 – [On-line] – [Reset/Clear] – [SD Memory] –[Format]

(b) Before executing SD memory formatting, cautions for formatting process are activated..
After reviewing the cautions, press [Yes] to proceed to the next stage.

Caution

1. Detaching the SD memory with force, power off or reset during formatting may cause internal damage of the
connected card, which may not show normal run afterwards.
2. If SD memory is being recognized when connected, the formatting can be performed after the operation is
completed.
3. Check RD/WRLED and relevant flags when SD memory is connected. If the motion controller mode is
changed while the formatting is in progress, the formatting will not be performed normally (supported only in
STOP state).
4. Transition to RUN mode is not possible during formatting.

(c) Subsequently the formatting setting window is activated. The setting window is as follows.
The storage, file system and allotted unit size are Default values that are read when connecting the SD memory.
Also, only fast formatting is supported. Volume label should be in English, and can be as long as 10 characters.
After setting as indicated above, press [Start] to begin formatting. The status bar indicates the current progress.

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Ex) When a 8G memory is connected

(3) Formatting Complete and Error Codes

(a) Status Information

F Area Address Flag Name Description

%FW523 _SD_FmtInfo SD memory formatting information
%FX8368 _SD_FmtRun SD memory formatting in progress
BOOL %FX8369 _SD_FmtDone SD memory formatting complete
%FX8370 _SD_FmtNg SD memory formatting failed
%FW524 _SD_FmtEcode SD memory formatting error codes

(b) Error Code

Error Code Error Name Error Description

When the SD memory card is forcibly removed during SD
0x0001 SD Detachment
memory formatting
When the file system is damaged during SD memory
0x0002 File System Damage
formatting

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(c) Completion Phrase

_SD_FmtDone (%KX8369) Bit turns ON when formatting is complete. In this case, the following completion
window appears.

If formatting failed, an error window appears along with the relevant code.

SD Detachment File System Damage

11.7.3 Diagnosis Function

Datalog provides SD memory diagnosis function.
SD memories that do not comply with the following cannot be used. Datalog function will not be executed when such
memories are connected.

(1) FAT32 File System Diagnosis

☞ The memory should be formatted using the FAT32 format, to allow for file saving.
Files will not be saved if it is formatted using other formats.

Caution

Since sudden power off may cause file system / file damage or saving of abnormal data.
Therefore, make sure to execute STOP flag or push the SD CMD button for 2 second when trying to stop
datalog function, so as to ensure normal data saving.

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11.8 CSV File Structure

11.8.1 File Save Format

The name of CSV files are created in the following form.

Name F I L E 0 0 0 0 0 .CSV
Group
Description File Name File Number Extension
Number
Fixed
Range Fixed Value 0~15 000 ~ 255
Value

The first 4 characters are fixed as ‘FILE,’ and the 5 ~ 6th numbers indicates the group number selected, and the
following
7~9th numbers indicate the file number.
For example, the 8th file of the ‘GROUP11’ folder will be named ‘FILE11008.CSV.’

11.8.2 File Name and Save Sequence

When executing datalog function after selecting a certain group, the file sequence progresses from Number 0. When
executing datalog function on multiple groups, files are first created for Group 0, and progresses sequentially to Group
15.
Selecting [Do Not Use] at the [Group Setting] will stop fie saving in the current group, and files creating will move into
the next group.

Group Group 0 Group 1 Group 2 Group 3 Group 4 Group 5 … Group 15

Name
File Name LOG0000 LOG1000 LOG2000 LOG3000 LOG4000 LOG5000 LOG9000
and
Creation
Sequence LOG0255 LOG1255 LOG2255 LOG3255 LOG4255 LOG5255 LOG15255

Note

While the data value collected from motion controller is saved at the interval set by the parameter, saving into
the SD memory is performed using Main Task Save method, starting from Group 0. However, it can change
flexibly depending on file storage.

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11.9 SD Memory Card

11.9.1 SD Memory Specifications

To use datalog function, the SD memory used should satisfy the following specifications.

Items Description
Memory Capacity: Up to 32 GB (supports SPI MODE, SD, SDHC)
(Only 8GB can be available in more than 8GB memory)
File System FAT32
Voltage Range 2.7 ~ 3.6V
Working Temperature Range -25℃ ~ 85℃
Static Tolerance Should satisfy IEC61000-4-2
Number of Detachments Up to 10,000 times
Current Consumption Up to 100mA (when reading, writing)
Number of Read/Writes Up to 100,000 times (for SLC)
Size 15mm * 11mm * 1mm
Recommended Products SanDisk, Transcend

Note
1. Datalog function of motion controller is capable of using all SD memories that satisfy the specifications
above.
2. Optimal performance can be expected by using the recommended products (SanDisk, Transcend).
Please use the recommended products unless required otherwise

11.9.2 Caution
Please pay attention to the following when using datalog function with SD memory card.

(1) Power Off during SD Memory Writing

(a) Power off or motion controller reset during writing of data collected by motion controller into the SD memory may
damage the file system of the memory card. Although motion controller verifies the file system of the SD memory
when applying electric power to convert the damaged files into usable files, such restoration may not be possible
depending on the level of damage. When powering off motion controller, please perform power off after verifying
that the SD memory writing is not being performed.

(b) Power off or motion controller reset during writing of data collected by motion controller into the SD memory
causes all data saved in the buffer memory inside the buffer memory. Therefore, the data collected immediately
before power off may not have been saved properly. When powering off motion controller, please perform power
off after verifying that the SD memory writing is not being performed.

(2) Time Required when Suspending SD Memory Writing

In cases of using K area flag to turn off the datalog permission flag while data saving is in progress, all data
collected before reception of the relevant flag command are saved into the SD memory, and then the datalog
operation stops.
Therefore, a small time is required until the datalog function actually stops. The time required for datalog stop varies
depending on the volume of data collected.

While the datalog stop is being performed, DLxx_Stoping (xx is the group number) flag is turned on, and when the
stop is completed, _DLxx_Finish flag is turned on. During the stop, the size of the remaining dada to be saved to the
SD card is displayed in the _DLxx_WaitingData flag.

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(3) Removal of Memory Card during Read/Write in SD Memory

(a) Forcibly removing the SD memory from motion controller during writing or reading of data collected by motion
controller may damage the file system of the memory card. Therefore, please remove SD memory after disabling
the datalog function using the command flag. If SD memory is removed during read/write of the SD memory, the
SD STATE LED flashes at 500ms interval.
The following figure shows the sequence of disconnecting or exchanging SD memory card.
(b) Power off or reset during datalog run may cause abnormal data saving. Also, the file system may be damaged
and not recognized the SD memory and the files.

(4) Using the cover to prevent SD memory removal

Please set the direction correctly when connecting the SD memory to the motion controller.
If you want to remove the SD memory, press the SD memory deeply to remove the memory.
In addition, please use the cover to prevent the SD memory from being removed due to vibration.

11.9.3 Micro SD Memory Usage Capacity

Up to 32GB memory can be mounted on the motion controller, but only about 80% of 8GB can be used. Even if the
SD card with more than 8GB is installed, the capacity corresponding to about 80% of 8GB, not 80% of the total
capacity can be used, and therefore it can no longer be used when more than 6.4GB is used. This is to prevent
excessive increase of SD memory access time when the data is stored.

Caution
1. SD memory state may affect main task time and saving performance. SD memory should be formatted
before use.
2. When using the SD memory for a long time, formatting on a regular basis is required to maintain
performance.

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11.10 Flag List

11.10.1 Common Flag

Address Type Variable Function Description
It is the flag indicating whether the
%KX8800 BOOL _DL_Rdy Datalog ready
datalog is ready.
It is the flag indicating stop command
%KX8192 BOOL _DL_AutoLogStop Stop Auto-logging
input of auto-logging.
It is the flag indicating error state of the
%KX8801 BOOL _DL_Err Datalog error state
datalog.
It is the flag indicating attachment state
%KX8256 BOOL _SD_Attach SD attachment state
of SD memory.
It is the flag indicating whether the SD
%KX8257 BOOL _SD_Rdy SD memory ready
memory is enabled.
It is the flag indicating error state of SD
%KX8258 BOOL _SD_Err SD memory error
memory.
It is the flag indicating initialization state
%KX8259 BOOL _SD_Init SD memory initializing state
of SD memory.
It is the flag indicating closing state of
%KX8260 BOOL _SD_Closing SD memory closing state
SD memory.
It is the flag indicating error state of SD
%KX8261 BOOL _SD_FATErr File System Error
memory file system
It is the flag indicating acting state of
%KX8262 BOOL _SD_AutoLogAct Act Auto-logging…
auto-logging.
It is the flag indicating busy state of SD
%KX8263 BOOL _SD_Busy SD memory busy state
memory.
It is the flag indicating insufficient state
%KX8264 BOOL _SD_SpaceWarn SD memory insufficient state
of SD memory capacity.
SD memory detachment It is the flag indicating detachment state
%KX8265 BOOL _SD_Detach
state of SD memory.
The Capacity of attachment SD memory
SD memory storage (GB)
%KD259 UDINT _SD_VolTot
capacity(GB) (In case of 8GB or more, it is displayed
as 8GB)
Available storage
%KD260 UDINT _SD_VolAvail The usable capacity of SD memory (KB)
capacity(KB)
It is the flag indicating error number of
%KW522 WORD _SD_Ecode SD memory error code
SD memory.
SD memory format It is the flag indicating format information
%KW523 WORD _SD_FmtInfo
information of SD memory.
SD memory format operation It is the flag indicating that the SD
%KX8368 BOOL _SD_FmtRun
state memory is formatting.
SD memory format complete It is the flag indicating that the format of
%KX8369 BOOL _SD_FmtDone
state SD memory is completed normally.
It is the flag indicating that the format of
%KX8370 BOOL _SD_FmtErr SD memory format fail state
SD memory is failed

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Address Type Variable Function Description

It is the flag indicating error number that
SD memory format error
%KW524 WORD _SD_FmtEcode occurred while formatting the SD
code
memory.
SD memory format progress It is the flag indicating format progress
%KW525 WORD _SD_FmtProgress
ratio (%) ration of SD memory. (0~100(%))
SD memory attachment It is the flag indicating attachment count
%KW526 WORD _SD_AttachCnt
count of SD memory.
SD memory detachment It is the flag indicating detachment count
%KW527 WORD _SD_DetachCnt
count of SD memory.
SD additional function It is the flag indicating that the additional
%KX8640 BOOL _SD_AddfuncAct
operation state function of SD memory is operating.
SD additional function error It is the flag indicating that the additional
%KX8641 BOOL _SD_AddfuncErr
state function of SD memory is error state.
It is the flag indicating that the additional
SD additional function
%KX8642 BOOL _SD_AddfuncDone function of SD memory is completed
complete state
operation state.
It is the flag indicating comparison
%KX8643 BOOL _SD_CmpResult SD result of comparison
operation result of SD memory
It is the flag indicating type of that the
%KW541 WORD _SD_AddfuncKind SD type of additional function
additional function of SD memory is.
It is the flag indicating error number that
SD additional function error
%KW542 WORD _SD_AddfuncEcode occurred while operating the additional
code
function of the SD memory.

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11.10.2 Group Specific Flag

(1) Parameter Group 0 Flag

Address Type Variable Function Description
%KX8224 BOOL _DL00_Enable Group 00 datalog enable state 0: Stop, 1: Save
%KX8960 BOOL _DL00_Rdy Group 00 datalog ready 0: Not ready, 1: Ready
%KX8961 BOOL _DL00_Act Group 00 datalog operation state 0: Stop, 1: Saving
%KX8962 BOOL _DL00_Err Group 00 datalog error state 0: No error, 1: Error
%KX8963 BOOL _DL00_Stoping Group 00 datalog stopping state 0: Not stopping, 1: Stopping
%KX8964 BOOL _DL00_Finish Group 00 datalog finish state 0: Incomplete, 1: Complete
%KX8965 BOOL _DL00_Trig Group 00 trigger occurrence state 0: Stop, 1: Operating
%KX8966 BOOL _DL00_TrigDone Group 00 trigger complete state 0: Incomplete, 1: Complete
%KX8967 BOOL _DL00_Evt Group 00 event occurrence state 0: Stop, 1: Operating
%KX8968 BOOL _DL00_Ovf Group 00 buffer overflow state 0: normal, 1: overflow
%KW561 WORD _DL00_Ecode Group 00 datalog error code -
%KW562 WORD _DL00_FileIdx Group 00 datalog file index number range :0~255
%KW563 WORD _DL00_FileRollcnt Group 00 overwrite count -
%KD282 UDINT _DL00_FileSize Group 00 file size(Byte) -
%KD283 UDINT _DL00_DataRow Group 00 data row number -
%KD284 UDINT _DL00_RemainBuf Group 00 remaining buffer size(Byte) -
%KD285 UDINT _DL00_WaitingData Group 00 waiting data size(Byte) -
%KW572 WORD _DL00_OvfCnt Group 00 buffer overflow count -
%KW573 WORD _DL00_TrigCnt Group 00 trigger occurrence count -
%KW574 WORD _DL00_TrigOvrap Group 00 trigger overlap count -
%KW575 WORD _DL00_EvtCnt Group 00 event occurrence count -

(2) Parameter group 1th~15th flag

Address Size Variable Function Description

%KW580 20Word - - Parameter of group 1(the same structure with group 0)
%KW600 20Word - - Parameter of group 2(the same structure with group 0)
%KW620 20Word - - Parameter of group 3(the same structure with group 0)
%KW640 20Word - - Parameter of group 4(the same structure with group 0)
%KW660 20Word - - Parameter of group 5(the same structure with group 0)
%KW680 20Word - - Parameter of group 6(the same structure with group 0)
%KW700 20Word - - Parameter of group 7(the same structure with group 0)
%KW720 20Word - - Parameter of group 8(the same structure with group 0)
%KW740 20Word - - Parameter of group 9(the same structure with group 0)
%KW760 20Word - - Parameter of group 10(the same structure with group 0)
%KW780 20Word - - Parameter of group 11(the same structure with group 0)
%KW800 20Word - - Parameter of group 12(the same structure with group 0)
%KW820 20Word - - Parameter of group 13(the same structure with group 0)
%KW840 20Word - - Parameter of group 14(the same structure with group 0)
%KW860 20Word - - Parameter of group 15(the same structure with group 0)

* _DLxx_Enable (Datalogging Enable Flag per Group) is set to each Bit of %KW514

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11.10.3 Error Code and Solution

Error codes related to datalog function is as follows.
Items Error Code Error Name Cause and Solution Note
0x0000 No Error -
It occurs when SD card is damaged, or SD which is not
SD Card
formatted to FAT32 is mounted.
0x0001 Recognition
Format it with FAT32 and try mounting it again. If it is
Error
still not recognized, replace the SD card.
Partition Failed to read partition information.
0x0002 Information Format it with FAT32 and try mounting it again. If it is
Error still not recognized, replace the SD card.
File System
0x0003 Format in FAT32 format and connect SD memory.
Error
Overall SD Card Not
0x0004 Please connect SD Card with storage of 2GB~16GB.
Error Supported
Codes SD Card SD memory capacity test failed, and thus SD cannot
0x0005 Capacity Check be used. Replace SD memory or re-connect it after
Failed formatting.
The available capacity of SD card is less than 20% of
the maximum capacity. (In case of SD card with more
Lack of Free
than 8GB, about 6.4GB, which is about 80% of 8GB, is
0x0006 Space for SD
used.)
Card
Replace it with another SD card or secure the capacity
by formatting and then re-connect it.
Datalogging group folder cannot be created in SD card.
Folder Creation
0x0007 Replace the SD card if it is damaged or re-connect it
Failed
after formatting.
Group No. xx
0x0100 Folder Creation
Group-
Error
specific
Group No. xx Format in FAT32 format and connect SD memory.
Error 0x0200
File Open Error
Codes
Group No. xx
0x0400
File Write Error

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 Chapter11 Datalog Function

11.11 Datalog Performance

11.11.1 Data Processing Time

This section describes the data storage time of datalog function.
The processing times described in this section do not represent absolute values, but actual measurement of each
example.
The actual processing time varies depending on the scan time, volume of collected data, format of the collected data,
type and storage of SD memory and number of files in the SD memory.

11.11.2 Save Performance by Main Task Interval

The following figures are save performance measurement by main task save intervals and number of set data saved.
These measurements represent relative values. The actual vales may vary depending on the program, setting
parameter and SD memory applied. You can use it as a reference when using datalog function.

(1) Set Condition

Data processing time was measured under the following conditions.

Item Description Note

Main task Interval 1ms, 2ms, 4ms

Buffer Size 128kByte
Data Collection Time 4 Word/ 10ms
Sampling Method Designated Main task Interval
Data M Area, Type: Word
Datalog Setting
CSV Output Time, Index information included
File Save 16MByte
SD Memory Card Transcend 16G

(2) System configuration

The system for performance measurement was configured using the built-in function of motion controller.

Enet Communication,
Digital Input/Output,
Analog Input/Output

EtherCAT

Axis 2 servo system

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(3) Measurement Results:

The storage performance according to the main task cyclic is shown in the following table.

(a) In case of WORD type

Number of Devices
16 WORD 32 WORD 64 WORD
4 WORD 8 WORD
(16 WORD * 1 (32 WORD * 1 (32 WORD * 2
(4 WORD * 1 Group) (8 WORD * 1 Group)
Group) Group) Group)
Buffer overflow Buffer overflow Buffer overflow Buffer overflow
1ms Normal
occurred occurred occurred occurred
Buffer overflow Buffer overflow Buffer overflow
2ms Normal Normal
occurred occurred occurred
Buffer overflow
4ms Normal Normal Normal Normal
occurred

(b) In case of LWORD type

Number of Devices
4 LWORD 8 LWORD 16 LWORD 32 LWORD 64 LWORD
(4 LWORD * 1 (8 LWORD * 1 (16 LWORD * 1 (32 LWORD * 1 (64 LWORD * 1
Group) Group) Group) Group) Group)
Buffer overflow Buffer overflow Buffer overflow Buffer overflow
1ms Normal
occurred occurred occurred occurred
Buffer overflow Buffer overflow Buffer overflow
2ms Normal Normal
occurred occurred occurred
Buffer overflow
4ms Normal Normal Normal Normal
occurred

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11.11.3 Save Process Time Verification

Datalog function does not guarantee saving of all data under any setting. It performs the maximum operation that
motion controller is capable of at the time when datalog condition occurs. That is, since datalog processing time may
fluctuate depending on the parameter setting, sampling data amount, scan time and run state of motion controller’s
other functions such as internal communication and position determination, it may not run as specified by the set
collection condition in some cases. Therefore, it is recommended to use datalog function after verifying each
processing time of the system before using datalog function.

(1) Save Process Time Verification

The following figure represents the flow from datalog function performed by motion controller to saving into SD
memory.
Details are as follows.

Start

Sampling Data Collection (a)

Sane into controller buffer (b)

Save into SD memory (c)

End

Stage Operation Note

When datalog is started, data is collected and stored in the internal

buffer.
Data collection is performed in accordance with conditions set in the
(a) Data Collection
parameter (storage for each main task and specified cycle, etc.), data
may not be collected in accordance with the set conditions depending
on the number of data and function usage.
The collected data is designed and processed in a form that can be
stored in the CSV file. After the design, it is stored in a buffer. If the
(b) Data Design
data storage buffer is full, the designed data will wait until there is
available free space in the buffer.
It performs the operation of saving the designed data as a file in the
SD card. If the data storage rate cannot keep up with the data
(c) Data Storage
collection rate, the internal buffer is exceeded, and data may be
dropped.

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(2) Methods on how to check the data storage processing time

To confirm whether the collected data is stored normally in the SD card, check the following contents

Checklist Contents and Solutions Note

Check whether the number of times when the buffer overflow occurred
in K area is 0.
Contents If it is not 0, data collection is faster than data collection time, and thus
the data may not be stored.
Buffer
Insert ‘C” string in the saved file
overflow
For the main task cycle, increase the main task cycle, and increase the
flag
sampling period in case of the specified cycle sampling.
Solutions Reduce the amount of data collected per sampling.
Only the necessary data is saved as a file (using the trigger storage
function).

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 Chapter 12 SD Function

Chapter 12 SD Additional Function

12.1 Overview

The motion controller has built-in additional functions using the SD card. This chapter describes the specifications and usage of the SD
additional features.

12.1.1 Characteristics

Through the motion controller’s SD additional features, you can perform the PLC update, backup, comparison, boot operati
on. These functions can be executed by operating the SD CMD buttons on the PLC.

(1) SD card setting function for SD additional features

- SD card setting through XG5000
(2) Motion controller update using the SD card
- Preventing leak of the motion controller program by using password setting

- Limit update using the motion controller’s MAC address

- Motion controller’s auto reset and operation mode can be set after updating

- Allows selective updating of projects using update flags

(3) Motion controller backup using the SD card

- Motion controller’s program can be saved to the SD card without XG5000

- Motion controller’s history also can be backed up.

(4) Comparison with the motion controller using the SD card

- You can compare the motion controller’s parameters, motion data, motion controller programs, NC codes, CAM d

ata.
- The comparison results can be saved and checked on the SD card.

(5) Motion controller’s boot operation using the SD card

- Motion controller program can be protected by password setting.

- Limiting the boot operation using the motion controller’s MAC address

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12.1.2 Export to the SD Card

Select [XG5000] - [Project] - [SD Card Setting] - [Export to SD Card] to launch the window where you can set the SD

card. The function, ‘Export to SD card’ is available only when the XG5000 is not online.
(1) PLC Update
The PLC update function is to update the program stored in the SD card to the PLC.

The description of each item in the PLC update mode is as follows.

Classification Content
Target drive Select the storage medium to store the project data
Alphabet/Number only (However, when checking flag update, only numbers
File Name
0 to 255 are possible.)
Flag update PLC update by selecting the desired project with the flag
Select action folder Location where you will save the project data (folder)
Set the PLC operations when inserting the SD card
Select operation mode
PlC Update: Updating the PLC using the data stored in the SD card

When the PLC project is updated using the SD, ‘Read from PLC’ is prohibi
Do not read from PLC
ted.
Check whether the PLC project can be updated using the SD including the
Use PLC password
PLC password setting
Limit PLC usage Specify the PLC that can update the PLC project
Auto-reset after update is co
Whether to execute the PLC reset after the PLC update is completed
mpleted
PLC status after update is co
Set the PLC operation mode after the PLC update is completed
mpleted

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 Chapter 12 SD Function

(2) PLC backup:

It is the function to back up the program stored in the PLC to the SD card.

In the PLC backup mode, the description of each item is as follows.

Classification Content
Target drive Select the storage medium to store the project data
Select action folder Location where you will save the project data (folder)
Set the PLC operations when inserting the SD card
Select operation mode
PLC backup: Saving the PLC project to the SD card
Check whether to back up the history saved in the PLC together during the PL
Include PLC history
C backup
Overwrite existing file If there is a file backed up to the SD card, checking whether to overwrite it.

(3) Comparison with PLC

This function allows you to compare the project stored in the PLC with the project stored in the SD card.

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In the comparison mode with the PLC, the description of each item is as follows.

Classification Content
Target drive Select the storage medium to store the project data
Select action folder Location where you will save the project data (folder)
Set the PLC operations when inserting the SD card
Select operation mode
Compare PLC: Compare the projects stored in the PLC and SD card
Compare item Only the desired items can be compared.
Save comparison results to a
Check whether the comparison result is saved as csv type file.
file

(4) PLC boot operation

It is the function to start the PLC by using the project stored in the SD. If you turn Off, On the PLC after removing the SD, it
runs by the program that was driven before boot operation.

The description of each item in the PLC boot operation mode is as follows.

Classification Content
Target drive Select the storage medium to store the project data
Select action folder Location where you will save the project data (folder)
Set the PLC operations when inserting the SD card
Select operation mode
PLC Update: Updating the PLC using the data stored in the SD card
Use PLC password Check whether the PLC boot operation can be updated using the SD
Limit PLC usage Specify the PLC that can execute the PLC boot operation

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12.1.3 Import from the SD Card

Select [XG5000] - [Project] - [SD card setting] - [Import from SD] to launch the window to read the file.
In the corresponding path, you can confirm the project saved in the SD of XG5000 is opened.

12.1.4 PLC update function

The PLC update function is available only when the PLC is in the STOP mode.

If you select ‘PLC update’ in ‘Export to SD card’ and click OK, the writing window will be created as below.

After completing ‘Export to SD card’ successfully, the window indicating successful completion is created and the saved
drive is displayed.

When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Confi
g and Restore folder.

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When the SD card is inserted into the SD card slot of the PLC, the flag (% KW541) of SD additional features is displayed
according to the values set in the Config.
%KW541 SD additional functions mode
0 additional functions
1 PLC backup function
2 PLC update function
3 Comparison with PLC Function
4 Boot operation function
If you press the SD CMD button once for more than 0.7 second and less than 2 seconds, the flag (%KX8640) will be turned On
and the PLC update operation will be executed while the SD RD/WR LED and SD additional features are running.

Besides the SD CMD button method, PLC update using flags is also possible. If the SD add-on function is PLC update, you can
update any project stored in the SD card. However, when exporting to an SD card, the project name must be set from 0 to 255. In
XG5000, input the project to be updated in the SD memory project number (%KB1088) flag, and when the SD memory project
update permission (%KX8688) flag is turned on, PLC update operation is performed.

When the update is completed normally, the flag (%KX8640) is turned Off and the completion flag of SD additional features
(%KX8642) is turned On while the SD RD/WR LED and SD additional features are running. If an error occurs during operation,
the SD additional function error flag (%KX8641) is turned On and the error value is displayed in the SD additional function error
code (%KW542).

(1) When ‘Read-protected from PLC’ is set, even if the update process is normal, reading from the PLC via XG5000 is

prohibited. If the PLC password option is set and the password has not been set in the PLC, the password will be
saved to the PLC along with the project update. In addition, if the password is already set in the PLC before perfor
ming the project update using the SD, the update will be executed only when the password set as the option matc
hes the password of the PLC.

(2) If ‘Limit PLC usage’ option is set, the PLC update is performed only when the MAC address stored as the option ma
tches the MAC address of the PLC.
(3) If auto-reset is set after update is completed, the PLC will be reset automatically after updating is done, and the PLC
operation mode will be changed into the PLC status option specified value.

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12.1.5 PLC backup function

This function backs up the project stored in the PLC to the SD card. The project of the PLC is backed up in the Backu
p folder in the MAC address folder of the product and saved as a file. The PLC backup function can operate regardless
of the PLC mode.

After completing ‘Export to SD card’ successfully, the window indicating successful completion is created and the saved
drive is displayed.

When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Config
folder.

When the SD card is inserted into the SD card slot of the PLC, the flag (% KW541) of SD additional features is displayed
according to the values set in the Config.
%KW541 SD additional functions mode
0 additional functions
1 PLC backup function
2 PLC update function
3 Comparison with PLC Function
4 Boot operation function
If you press the SD CMD button once for more than 0.7 second and less than 2 seconds, the flag (%KX8640) will be turned On
and the PLC update operation will be executed while the SD RD/WR LED and SD additional features are running. When the
backup is completed normally, the flag (%KX8640) is turned Off and the completion flag of SD additional features (%KX8642) is
turned On while the SD RD/WR LED and SD additional features are running.
If an error occurs during operation, the SD additional function error flag (%KX8641) is turned On and the error value is displayed in
the SD additional function error code (%KW542).

After removing the SD card, you can see the project will be saved under the Backup folder in the product’s correspondin
g path and the saved project will be opened when executing ‘Import from SD’ in XG5000.

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12.1.6 Comparison with PLC Function

This function is used to compare the project stored in the PLC with the program stored in the SD card. The comparison

result can be checked through the flag or .csv file. If you select ‘Comparison with the PLC’ in ‘Export to SD card’ an
d click OK, the writing window will be created as below.

After completing ‘Export to SD card’ successfully, the window indicating successful completion is created and the saved
drive is displayed.

When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Confi
g, Compare folder.

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When the SD card is inserted into the SD card slot of the PLC, the flag (% KW541) of SD additional features is displayed
according to the values set in the Config.
.
%KW541 SD additional functions mode
0 additional functions
1 PLC backup function
2 PLC update function
3 Comparison with PLC Function
4 Boot operation function
If you press the SD CMD button once for more than 0.7 second and less than 2 seconds, the flag (%KX8640) will be turned On
and the PLC update operation will be executed while the SD RD/WR LED and SD additional features are running.
When the comparison is completed normally, the flag (%KX8640) is turned Off and the completion flag of SD additional features
(%KX8642) is turned On while the SD RD/WR LED and SD additional features are running.
If an error occurs during operation, the SD additional function error flag (%KX8641) is turned On and the error value is displayed in
the SD additional function error code (%KW542).

(1) (1) When there is a discrepancy of the comparison, the SD comparison result flag (% KX8643) is turned Off and if it
is the same, the SD comparison flag is turned On.

(2) If you check the item, 'Save comparison result to file' when executing ‘Export to SD card’, the result file (CmpResult.c

sv) is created in the ‘Compare’ folder and the comparison result is saved.

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12.1.7 PLC Boot Operation

This function is to operate the PLC with the program saved in the SD, not the project saved in the PLC. The programs
that were already running are stored in the PLC. If the PLC power is turned off, on after removing the SD card, it is
driven by the existing program again.

If you select ‘PLC boot operation’ in ‘Export to SD card’ and click OK, the writing window will be created as below.

After completing ‘Export to SD card’ successfully, the window indicating successful completion is created and the saved
drive is displayed.

When checking the saved drive, an add-on folder is created under the model folder and the file is created in the Confi
g, Boot folder.

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The boot operation must be performed when the PLC is powered off. After installing the SD card in the PLC power off state, turn
on the PLC power while pressing the SD CMD button.
When the boot operation mode is completed normally, the flag (%KX8640) is turned Off and the completion flag of SD additional
features (%KX8642) is turned On while the SD RD/WR LED and SD additional features are running.
If an error occurs during operation, the SD additional function error flag (%KX8641) is turned On and the error value is displayed
in the SD additional function error code (%KW542).

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12.1.8 Automatic Logging Function

This function is to change the data log parameters saved in the PLC and it executes automatically logging according to
the setting file stored in the SD card.

There are the items for automatic logging setting on the top left of the data log parameters window.

If you save the auto logging settings after setting the parameter related to data log, you can save the setting file to the
desired path.

Auto-logging is executed when the power is turned On after the SD card is mounted while the PLC is off.

(1) If the parameters stored in the PLC are set to ‘Prohibit automatic logging’, the settings of Autolog.cfg will not be refle
cted but will operate according to the existing program settings.
(2) Since the corresponding parameters stored in the SD are saved in the PLC, if other SD card is inserted and the PL
C power is turned off or on, same operations will be executed as auto logging settings.
(3) If the automatic logging stop (_DL_AutoLogStop: %KX8192) command flag is turned on during automatic logging,After
that, logging is not resumed even if the group data logging enable flag is turned on or the automatic logging stop
command flag is turned off.

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12.1.9 Error Codes and Countermeasures

The error codes related to SD additional features are as follows. The error code is displayed together with the addition
al function mode. (For example, when there is no file password among PLC update functions (0x2005) 2: additional fu
nction mode, 5: error operation)

Category Error code Error name Remarks

0xX001 File error (file open failure, CRC error)
0xX002 Damaged file (damaged head, tail, etc.)
0xX003 Unsupported file version
0xX004 Model mismatch
0xX005 No password in file
0xX006 Password discrepancy
0xX007 MAC address mismatch
Whole error c
0xX008 File decryption error
odes
0xX009 IO configuration mismatch
0xX00A No save file
0xX00B PLC mode is RUN status
0xX00C No SD card
0xX00D SD card error status
0xX00E In the process of powering off the SD card
0xX00F State that the SD card is powered off

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 Chapter13 Built-in Analog Function

Chapter 13 Built-in Analog Functions

Before using the analog input and output function, follow steps below.

XMC-E32A

Performance specifications Specifications

 Operation environment
 Input / output type and
range

Wiring
Wiring
 Wiring analog input / output
(Setting types of Voltage / Current
input / output)

Reading analog input data Writing analog Analog input / output test
 XG5000 special module
monitor

Parameter setting Parameter

 XG5000 I/O parameter

Programming Programming
 Programming for reading and writing
analog data
(U Device)
Refer to trouble shooting when there is
error or analog data is abnormal.

Notes
The analog function is supported only by analog-type products (XMC-E32A/E16A/E08A).

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Performance specifications are as follows

1) Input Performance Specifications

Item Performance specifications

Number of channels 2 channels
Type Voltage Current
DC 1~5V DC 4~20㎃
DC 0~5V DC 0~20㎃
DC 0~10V (input resistance:250Ω)
DC -10~10V
Range (input resistance: 1 ㏀ or more)
Current input or Voltage input can be selected through the external terminal
wiring setting. (In voltage mode, use V+ and COM terminal for the channel. •
Analog
In current mode, short V+ and I+ terminal and then use I+ and COM
Input range
terminal.)
Unsigned Value 0~16,000
R Signed Value -8,000~8,000
a 1,000~5,000(1~5V) 4,000~20,000(4~20㎃)
n 0~5,000(0~5V) 0~20,000(0~20㎃)
Precise value
g 0~10,000(0~10V)
e -10,000~10,000(±10V)
Percentile value 0~10,000
1/16,000
0.250㎷(1~5V) 1.0㎂(4~20㎃)
Max. resolution 0.3125㎷(0~5V) 1.25㎂(0~20㎃)
0.625㎷(0~10V)
1.250㎷(±10V)
±0.2% or less (When ambient temperature 25±5℃)
Precision
±0.3% or less (When ambient temperature 0±55℃)
Max. conversion speed 0.5ms/channel
Absolute Max. input DC ±15V DC ±30㎃
Filter Digital filter (4 to 64,000 ㎳)
Time average (4 to 16,000 ㎳)
Count average (2 to 64,000)
Average function
Moving average (2 to 100)
Auxiliary
Weighted average (1 to 99%)
function
Alarm function Disconnection (1 to 5 V DC, 4 to 20 ㎃ DC)
Hold Last Value
When input signal exceeds the effective range, holds the last effective value.
Function
Alarm Function When input signal exceeds the effective range, relevant flag turns on.
Input terminal 6 point terminal block

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 Chapter13 Built-in Analog Function

2) Output Performance Specifications

Item Performance specifications

number of output channels voltage 2 channels
DC 1~5V
DC 0~5V
DC 0~10V
Range DC -10~10V
(Load resistance: 1 ㏀ or more)
Output ranges are set in user program or I/O parameter per
each channel.
Unsigned
0~16,000
Value
Signed Value -8,000~8,000
1,000~5,000(1~5V)
Range 0~5,000(0~5V)
Precise value
0~10,000(0~10V)
-10,000~10,000(±10V)
Percentile
0~10,000
value
1/16,000
0.250㎷(1~5V)
Max. resolution 0.3125㎷(0~5V)
0.625㎷(0~10V)
1.250㎷(±10V)
±0.2% or less (When ambient temperature is 25±5℃)
Precision
±0.3% or less (When ambient temperature 0~55℃)
Max. conversion speed 0.5ms/channel
Setting of channel output status - Select one among previous,
minimum, average, maximum value
Additional functions
Setting of interpolation method - Linear interpolation, S-type
interpolation
Output terminal 6 point terminal block

3) Common performance specification

Item Performance specifications

Photo-coupler and trans insulation between the input/output terminal and
Insulation method
motion controller power (no insulation between channels)
I/O occupied points Fixed type: 64 point

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 Chapter13 Built-in Analog Function

No. Name Content

Displays the operation status of analog input part
On: Normal operation
① A/D LED
Blinks: Error occurs (Flickering 1s intervals)
Off: Power off or module error

Displays the operation status of analog output part

On: Normal operation
② D/A LED
Blinks: Error occurs (Flickering 1s intervals)
Off: Power off or module error
Input
③ ▶ Wiring input terminal block to connect with external device
connector
Output
④ ▶ Wiring output terminal block to connect with external device
connector

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 Chapter13 Built-in Analog Function

Voltage/Current input ranges are able to set from each channel by using user program or I/O parameter.
Data output type of digital is defined as below.
1) Unsigned Value
2) Unsigned Value
3) Precise value
4) Percentile Value

13.3.1 Input characteristic

Analog input applicable

range

10119 8191 16191

10000 8000 16000
Gain
value

7500 4000 12000

Digital
output 5000 0 8000
value

2500 -4000 4000

0 -8000 0
-120 -8192 -192 Offset
value
DC 4 ~ 20 mA 4 mA 12 mA 20 mA
Analog DC 0 ~ 20 mA 0 mA 10 mA 20 mA
DC 1 ~ 5 V 1V 3V 5V
input
DC 0 ~ 5 V 0V 2.5 V 5V
value
DC 0 ~ 10 V 0V 5V 10 V
DC -10 ~ 10 V -10 V 0V 10 V

1) DC 4~20mA input range

Digital Analog input current (㎃)
output range 3.808 4 8 12 16 20 20.191
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
3,808 4,000 8,000 12,000 16,000 20,000 20,191
(3,808~20,191)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

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2) DC 0~20mA input range

Digital Analog input current (㎃)
output range -0.24 0 5 10 15 20 20.239
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-240 0 5,000 10,000 15,000 20,000 20,239
(-240~20,239)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

3) DC 1 ~ 5V input range
Digital Analog input voltage (V)
output range 0.952 1 2 3 4 5 5.047
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
952 1,000 2,000 3,000 4,000 5,000 5,047
(952~5,047)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

4) DC 0 ~ 5V input range
Digital Analog input voltage (V)
output range -0.06 0 1.25 2.5 3.75 5 5.059
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-60 0 1,250 2,500 3,750 5,000 5,059
(-60~5,059)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

5) DC 0 ~ 10V input range

Digital Analog input voltage (V)
output range -0.12 0 2.5 5 7.5 10 10.119
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

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6) DC -10 ~ 10V input range

Digital Analog input voltage (V)
output range -10.24 -10 -5 0 5 10 10.239
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-10,240 -10,000 -5,000 0 5,000 10,000 10,239
(-10,240~10,239)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

13.3.2 Output characteristic

The output conversion characteristics according to the range of the digital input are as follows. o
e
g
Gain value n
5.048 5.06 10.12 10.24 a
rl
5V 5V 10V 10V a
c
tic
a
r
P

4V 3.75V 7.5V 5V

Analog
output 3V 2.5V 5V 0V
value

2V 1.25V 2.5V -5V

1V 0V 0V -10V
0.952 -0.06 -0.12 -10.24
Offset value
Unsigned value -191 0 8000 16000 16191
Digital
Signed value -8192 -8000 0 8000 8191
input value
Percentile value -120 0 5000 10000 10119

1) DC 1 ~ 5V Output range
Digital Analog Output voltage (V)
Input 0.952 1 2 3 4 5 5.047
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
952 1,000 2,000 3,000 4,000 5,000 5,047
(952~5,047)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

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2) DC 0 ~ 5V output range
Digital Analog Output voltage (V)
Input -0.06 0 1.25 2.5 3.75 5 5.059
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-60 0 1,250 2,500 3,750 5,000 5,059
(-60~5,059)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

3) DC 0 ~ 10V Output range

Digital Analog Output voltage (V)

Input -0.12 0 2.5 5 7.5 10 10.119
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

4) DC -10 ~ 10V Output range

Digital Analog Output voltage (V)

Input -10.24 -10 -5 0 5 10 10.239
Unsigned Value
-192 0 4,000 8,000 12,000 16,000 16,191
(-192~16,191)
Signed Value
-8,192 -8,000 -4,000 0 4,000 8,000 8,191
(-8,192~8,191)
Precise value
-10,240 -10,000 -5,000 0 5,000 10,000 10,239
(-10,240~10,239)
Percentile value
-120 0 2,500 5,000 7,500 10,000 10,119
(-120~10,119)

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13.4.1 Input Accuracy

Accuracy of digital output value does not change even if input range is changed.
Figure below shows the range of the accuracy with analog input range of 0 to 10 V and digital output type of unsigned value
selected.
Accuracy is ±0.2% (Ambient temperature of 25±5℃).
16032
16000
15968
Digital output value

8000

32
0
-32
0V 5V 10 V
Analog input voltage

1) Accuracy when using 5 V input 16,000 × 0.2% = 32

Therefore the range of the accuracy will become (8,000-32) to (8,000+32) = 7,968 to 8,032

2) Accuracy when using 10V input 16,000 × 0.2% = 32

Therefore the range of the accuracy will become (16,000-32) to (16,000+32) = 15,968 to 16,032

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13.4.2 Output Accuracy

Accuracy of digital output value does not change even if input range is changed.
When digital input range is selected with unsigned value, It indicates the range of precision variation.
Accuracy is ±0.2% (Ambient temperature of 25 ±5℃).

20.03 mA 20.04 mA 5.01 V 5.01 V 10.02 V 10.04 V

20 mA 20 mA 5V 5V 10 V 10 V
19.97 mA 19.96 mA 4.99 V 4.99 V 9.98 V 9.96 V
Analog output value

8 mA 10 mA 3V 2.5 V 5V 0V

4.03 mA 0.04 mA 1.01 V 0.01 V 0.02 V -9.96 V

4 mA 0 mA 1V 0V 0V -10 V
3.97 mA -0.04 mA 0.99 V -0.01 V -0.02 V -10.04 V

Digital input value 0 8000 16000

1) Accuracy when using -10 to 10V output 16000 × 0.2% = 32

Accuracy range when using -10 V output will become (-10 V – 32 × 1.25 ㎷) ~ (-10 V + 32 × 1.25 ㎷) = -10.04 ~ -
9.96 V, Accuracy range when using 10V output will become (10 V – 32 × 1.25 ㎷) ~ (10 V + 32 × 1.25 ㎷) = 9.96 ~
10.04 V

2) Accuracy when using 1 to 5 V output 16000 × 0.2% = 32

Accuracy range when using 1 V output will become (1 V – 32 × 0.25 ㎷) ~ (1 V + 32 × 0.25 ㎷) = 0.992 V ~ 1.008
V, Accuracy range when using 10V output will become (5 V – 32 × 0.25 ㎷) ~ (5 V + 32 × 0.25 ㎷) = 4.992 V ~
5.008 V

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Functions of embedded analog module are as described below.

Function item Content

Channel run/stop ● Specify Run/Stop of the channel to execute A/D, D/A conversion.
setting ● If the unused channel is set to Stop, whole Run time can be reduced.
● Specify analog input / output range to be used.
● Select range in parameter setting after selecting Voltage/Current input / output according
Input / output
to the wiring properly.
voltage/current
● Embedded analog module provides two kinds of current input / output ranges (4 to 20
Range setting
mA, 0 to 20 mA) and four kinds of voltage input / output ranges (1 to 5 V, 0 to 5 V, 0 to
10 V,-10 to 10 V)
● Specify digital input / output type.
Input/Output data type
● 4 data formats are provided in this module. (Unsigned value, Signed value, Precise
Setting
value, Percentile value)
● Sampling processing
- Sampling process will be performed if A/D conversion type is not specified.
● Filter processing
- Used to delay the sudden change of input value.
● Average processing
- Outputs average A/D conversion value based on time or count.
● Detection alarm (Input disconnection)
A/D conversion
- After detecting disconnection of the input circuit, the alarm is displayed by a single flag.
methods
(Input signal range: 4~20㎃, 1~5V)
● Maintenance function of valid conversion value.
- When valid conversion value is exceeded, whether conversion value retains will be
able to set.
● Alarm function
- When exceeding valid input range, alarm and maximum /minimum flag will be
generated.
D/A output status ● Set the output status of channel when changing 'Run' to 'Stop'.
setting ● The four kinds of output statuses are provided (Previous, Min, Mid, Max value)
Interpolation method
● Set linear interpolation, S-type interpolation method.
setting

13.5.1 Sampling Processing

Collects analog input sign through general A/D conversion processing at a specific interval to convert to digital.
The time required for A/D conversion of analog input sign till saved on the memory depends on the number of channels used.

(Processing time) = (Number of channels used) x (Conversion speed)

(i.e.) If the number of channels used is 3, its process time will be 3 x 0.5 ㎳ = 1.5 ㎳

Sampling is used to calculate the sampling value of continuous analog sign at a specific interval.

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13.5.2 Filter Processing

The input value of the specified channel is calculated and output as follows with the previously filtered input value by the set
filter value (time constant 63.2%).

(Pre - Filtered Input Value × Filter Constant ) + (Current Input Value × 0.5 ms × Number of used channels )
Filtered Value =
Filter Constant + (0.5 ms × Number of used channels )

The time required for A/D conversion of analog input sign till saved on the memory depends on the number of channels used.

Setting range of Filter constant = 4 to 64,000 [ms]

Input
Input value after filtering
value
Actual input value

10000

6320

Filter constant Time (ms)

(ms)

As the above graph, if the input value rapidly decreases from 0 to 10,000, the input value will be filtered.
Specified time with filter constant is that the input value is the time to change by 63.2% of actual time constant.

13.5.3 Average Processing

1) Time Average
Input value of specified channel accumulates during setting time and then the average value of the sum is shown
with digital data.

Input value after

average
평균처리후 processing
입력값
실제 입력값
Actual input value

Channel scan Interval (0.5ms/ used channel)

Average processing interval Average평균처리구간

processing interval 샘플링처리구간
Sampling processing interval

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Setting range = 4 to 16,000 [ms]

In case of the time average, the average processing count is calculated by depending on the number of used
channels.

Average time
Average processing count =
Number of used channels x 0.5 ms

Time average is converted to count average in A/D conversion module internally, and then processed. In this case,
remainder can be generated when dividing average time by (number of used channels X conversion speed). The
remainder generated at this time is discarded, and the average number of processing is determined by the quotient
of (set time) ÷ (number of channels used × conversion speed).

(i.e.) If the number of channels used is 4 and setting time is 151 ㎳,

Average processing count = 151 ㎳ ÷ (4 × 0.5 ㎳) = 75 counts∙∙∙∙∙remainder 1  75 counts

2) Count Average
Input value of specified channel accumulates during setting numbers and then the average value of the sum is shown with
digital data
Input value after
평균처리후
average 입력값
processing
실제 입력값
Actual input value

Channel scan interval (0.5ms/ used channel)

Average
Averageprocessing
processinginterval
interval 평균처리구간
Average processing interval 샘플링처리구간
Sampling processing interval

Setting range = 2 to 64,000 [times]

In case of count average, the average processing interval is calculated by depending on used channels.

Average processing interval [㎳] = Number of average count × Number of used channels × 0.5 ㎳
3) Moving Average
The inputs into the designated channel are accumulated for the presser number, its average is calculated, and output as
digital data.
However, in moving average method, each scan provides its average value.

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(2) (3)
(4) (7)
(5) (6)
(1)

(1)+(2)+(3)+(4) (3)+(4)+(5)+(6)
Averaging No. Averaging No.
(2)+(3)+(4)+(5)
Averaging No.

Channel scan interval (0.5ms/ used channel)

4) Weighted Average
Weighted average function processes transition of input data gradually by filter (delay) of input sampling data.

Setting range: 1 to 99 (%)

F[n] : Current Weighted average output 

 
F [n] = (1 − α ) × A[n] + α × F [n − 1] A[n] : Current A/D Conversion value 
F[n − 1] : Former Weighted average output 
 
α : Weighted average constant 
 (0.01 to 0.99 : Weighted value of former value)
 

Filter Output Value

Setting Value Description
- 1 scan 2 scan 3 scan
Not set 0 8,000 8,000 8,000 Not process weighted average
1 0 7,920 7,999 7,999 Apply 1% of former value
50 0 4,000 6,000 7,000 Apply 50% of former value
99 0 80 159 237 Apply 99% of former value

Notes

(1) In case of the time/number of average, every conversion time input value is not outputted. And precondition is
retained until the average time/number is arrived.
.
2. Four kinds of average functions and introduced filtering functions that are above are able to deal with at the same
time. When those are chosen at the same time, the top priority is filter function in the processing sequence. At that
time digital data value is outputted as the final processing value.
(3) Number of used channel include input/output channel.

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13.5.4 Detection Alarm (Input Disconnection)

When Input voltage (DC 1~5V) or Input current (DC 4~20 mA) is chosen for analog input range, the analog input module has a
diagnostic function by checking for disconnection.
If the module shows disconnection, that means the parts of connections in the wiring connection are faulty. If so, check and take
action.

1) Detection conditions
When input signal range of 4 to 20 mA and 1 to 5 V is used, disconnection of input circuit can be detected.
The detection conditions of each input signal range are as below.

Voltage/Current recognized as a
Input signal range
disconnection
4~20㎃ 0.8mA or less

1~5V 0.2V or less

2) When between used wiring and module is disconnected, the LED will be turned on/off 1s intervals.

3) Each channel can detect disconnection. However, Disconnection is only displayed for specified operation channel.
The LED can commonly use the channel from 0 to 1. If one or more channel is disconnected, LED will be turned
on/off.

Disconnection
Input connections Channel run AD LED status
Flag
Operation ON OFF
Normal
Stop ON OFF

Input wiring is disconnected or Flicker (1

Operation On
Input is not connected. second)
Stop ON Off

4) In case of disconnection, disconnection flag of relevant channel will turn on and In case of connection, disconnection
flag of relevant channel will turn off.

Disconnection Flag Content Status description

Channel 0
%UX0.1.72
disconnection OFF : normal
Channel 1 ON : disconnection
%UX0.1.73
disconnection

5) In case of disconnection, the input value displays the lowest value among each input range.

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13.5.5 Hold Last Value Function

When input signal exceeds the effective range, last input value is held.
This function can be set for each channel by I/O parameter setting or user program.

1) Used input range

In the channels that allow the hold last value function, the actual ranges provided within each digital conversion
value are shown. For example, in case of operating output data type of unsigned value, original digital output value
is shown from -192 to 16,191. However, if this function is allowed, it will be shown from 0 to 16,000.
It is recommended that the function should be setting when the input value is in the actual range.

(1) Digital output value depending on input range (unsigned value, signed value, percentile value)

Unsigned Percentile
Classification Signed Value Precise value
Value value
Function disabled -192~16,191 -8,192~8,191 -120~10,119
(2) Reference
Function enabled 0~16,000 -8,000~8,000 0~10,000

(2) Digital output value depending on input range (Precise value)

Analog
Classification Precise value
input range
Function disabled 3,808~20,191
4~20㎃
Function enabled 4,000~20,000
Function disabled -240~20,239
0~20㎃
Function enabled 0~20,000
Function disabled 952~5,047
1~5V
Function enabled 1,000~5,000
Function disabled -60~5,059
0~5V
Function enabled 0~5,000
Function disabled -120~10,119
0~10V
Function enabled 0~10,000
Function disabled -10,240~10,239
-10~10V
Function enabled -10,000~10,000

2) Operation
When operating with 4 ~ 20 ㎃ with this function enabled, the output for input value changes at the moment is as
follows. (Output data type: In case of 0~16,000)

Input current
12㎃ 3㎃ 4㎃ 12㎃ 21㎃ 20㎃
(mA)
Digital output
8,000 8,000 0 8,000 8,000 16,000
value
Previous Previous
Note - - - -
value Hold value Hold

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13.5.6 Alarm Function

When the input signal is exceeded from valid value, the alarm will be shown through alarm flag of relevant channel.

1) Input detection condition

The detection conditions of each input signal range are as below.

Signal
Analog Permission Lower limit
Difference Upper limit
input range range alarm
(Difference)
4~20㎃ 16㎃ 3.808㎃ 20.192㎃
0~20㎃ 20㎃ -0.240㎃ 20.240㎃
1~5V 4V 0.952V 5.048V
1.2%
0~5V 5V -0.060V 5.060V
0~10V 10V -0.120V 10.120V
-10~10V 20V -10.240V 10.240V

2) Alarm indication for each channel

The alarm detection signal for each input channel is displayed in %UX0.1.48~%UX0.1.49
and %UX0.1.56~%UX0.1.57.
If input signal returns to the within of effective range, alarm detection signal also returns to the normal status
automatically.

(1) Upper limit alarm

Variable name Device assigned Description Status description
CH0 upper limit OFF : normal
_01_AD0_HOOR %UX0.1.48
alarm On: Maximum alarm
CH1 upper limit
_01_AD1_HOOR %UX0.1.49 occurrence
alarm

(2) Lower limit alarm

Variable name Device assigned Description Status description
Channel 0 lower OFF : normal
_01_AD0_LOOR %UX0.1.56
limit alarm On: Maximum alarm
Channel 1 lower
_01_AD1_LOOR %UX0.1.57 occurrence
limit alarm

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Notes

The channel conversion data will be 0 and Lower limit alarm flag will be ON if the input signal is out of the effective
range as below when the input channel is enabled and hold last value function is enabled.

Analog Hold last value Lower limit Channel

Input signal
input range function alarm conversion value
3.808㎃~4㎃
4~20㎃ On On 0
20㎃~20.192㎃
-0.24㎃~0㎃
0~20㎃ ON On 0
20㎃~20.24㎃
0.952V~1V
1~5V On On 0
5V~5.048V
-0.06V~0V
0~5V On On 0
5V~5.06V
-0.12V~0V
0~10V On On 0
10V~10.12V
-10.24V~-10V
-10~10V On On 0
10V~10.24V

13.5.7 Setting Function of Channel Output Status

Set the output against stop and abnormal condition of motion controller.

1) Function
When initialization of module and error of XMC system are happened, use to prevent abnormal output.

2) Type
You can set an output status of channel among Previous, Min, Mid, Max value.
(1) Previous value: The last output operated normally is retained.
(2) Min: The Min value of each range is outputted.
(3) Mid: The Mid value of each range is outputted.
(4) Max: The Max value of each range is outputted.

3) Example
When the range of output channel is set to 0 ~ 10V and the output is 7V, if the system is changed from 'Run' to 'Stop', the
output will be as follows depending on setting data of channel output status.
.

(1) Previous value: It retains the previous output, the 7V output.

(2) Min: It outputs 0V, which is the minimum value of the range.
(3) Mid: It outputs 5V, which is the middle value of that range.
(4) Maximum value: It outputs 10V, which is the maximum value of the range

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13.5.8 Interpolation Method Setting

1) Function
The output signal of module is used to execute interpolation output depending on set interpolation time. When the voltage
and current is outputted, it can be used to prevent transient response of load system as a suddenly changed output.

2) Interpolation method setting

Interpolation method can set the one among interpolation prohibition, linear interpolation S-type interpolation.

(a) Interpolation prohibition: It doesn't execute interpolation operation. And it outputs digital input value intact.
(b) Linear interpolation: The output is changed up to objective value with linear during the interpolation time.

Analog output value

D/4 Reaching
a target value

D/2
D/4

t/4 t/4 t/4 t/4

Interpolation time
t

Change of the output value

(c) S-type interpolation: The output is changed up to objective value with S-type during the interpolation time.

Analog output value

D/8 Reaching
a target value

D/2

D/8

t/4 t/4 t/4 t/4

Interpolation time
t

Change of the output value

3) Interpolation time setting

The interpolation time can be set with the one among 10[ms], 100[ms], 1[s], 60[s].
The output is changed depending on interpolation method setting during the set interpolation time.

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4) Interpolation output value

The interpolation operation value that is currently being outputted can check in parameter area while using interpolation
function.

Interpolation output value

Variable name Content
address
_01_DA0_INTPVAL %UW0.1.25 Channel 0 interpolation operation value
_01_DA1_INTPVAL %UW0.1.26 Channel 1 interpolation operation value

5) Interpolation flag turns on while the interpolation is outputted. And when the interpolation output value is reached at
objective value, it will turn off.

Variable name Interpolation flag content

Channel 0 interpolation output in
_01_DA0_INTP %UX0.1.64
operation
Channel 1 interpolation output in
_01_DA1_INTP %UX0.1.65
operation

※ Interpolation flag can be monitored when interpolation time is set to 1[s] or 60[s].

6) Example
The interpolation method is set to S-type interpolation and interpolation time is set to 60s. If the output is changed from 4
㎃ to 20 ㎃, and then changed to 4 ㎃ again when it is reached to 20 ㎃, the output is as graph below.
Analog
Output value Reaching a target value Change of the output value
20mA
18mA

12mA

Reaching
6mA a target value
4mA

15s 15s 15s 15s 15s 15s 15s 15s Interpolation

time
Change of
60s 60s
the output value
Interpolation Interpolation
flag On Interpolation flag On Interpolation
flag Off flag Off

Notes

1) During the interpolation output, If the internal parameter is changed, the interpolation operation will be
temporarily stopped and the output can be immediately changed to objective value.
2) If the change of internal parameter is needed, change the parameter during interpolation output after the flag
turns off when the analog output value is not changed.

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13.6.1 Example for Wiring Analog Input

1) The input resistance of current input circuit is 250 Ω (typ.).
2) The input resistance of voltage input circuit is 1 MΩ or more.
3) Set the operation mode only if you want to use channels.
4) Example for analog input wiring
In voltage mode, use V+ and COM terminal for the channel. In current mode, short V+ and I+ terminal and then use I+ and
COM terminal.

(1) Voltage wiring

(2) Current wiring

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5) The example of analog input 2-Wire sensor/transmitter wiring (The current input)
Use I+ and COM terminal after connecting V+ with I+ terminal.
I0+ CH0
2-Wire +
Transmitter DC
COM0 -

I1+
CH1
2-Wire +
COM1
Transmitter - DC

6) The example of analog input 4-Wire sensor/transmitter wiring (The current input)
Use I+ and COM terminal after connecting V+ with I+ terminal.
I0+ CH0 +
4-Wire DC
Transmitter -
COM0

CH1
I1+ 4-Wire +
Transmitter - DC
COM1

7) Relationship between voltage input accuracy and wiring length

In voltage input, the wiring (cable) length between transmitter or sensor and module influences digital-converted values of
the module as specified below;
The values are as follows:

Rs Rc

Vs
Vin Ri

Rc

Load

Analog input (voltage)

here
Rc: Resistance value due to line resistance of cable
Rs: Internal resistance value of transmitter or sensor
Ri: Internal resistance value (1㏁) of voltage input module

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Vin: Voltage allowed to analog input module

% Vi: Tolerance of converted value (%) due to source and cable length in voltage input
Ri × Vs
Vin =
[Rs + (2 × Rc ) + Ri ]

 Vin 
%Vi = 1 −  ×100%
 Vs 
Notes
1) While using a input voltage range among 1 to 5 V, 0 to 5 V, 0 to 10 V, -10 to 10 V If the external wiring is
disconnected, It will take a certain amount of time to display output data value of 0 V. If you want to reduce that
time, connect the resistance about 0.1 ㏁ to 1 ㏁ between input channel V+ and COM.

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13.6.2 Example for Wiring Analog Output

1) Example for analog voltage ·current output wiring
Motor drive etc.

+ CH0
1kΩ or more
-
※1

+ CH1
1kΩ or more
-
※1

※1: A twisted two core shielded wire should be used as wire.

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Built-in analog conversion module’s operation parameters can be specified through XG5000’s [I/O parameters].
1) Setting items
For the user’s convenience of D/A conversion module, XG5000 provides GUI (Graphical User Interface) for
parameters setting of D/A conversion module. Setting items available through [I/O parameters] on the XG5000 project
window are as described below in the table.

Item Content
(a) Input parameter setting
Specify the following setting items necessary for the module operation.
1) Operation Channel
2) Input range
3) Output Data Type
4) Filter constant
5) Average Method
6) Average value
7) Keep valid conversion values
[I/O parameter] (b) Output parameter settings
Specify the following setting items necessary for the module operation.
1) Operation Channel
2) Output range
3) Input data type
4) Channel output status setting
5) Interpolation method setting
6) Interpolation time
(c) When the parameters set by user in XG5000 is downloaded, that data is saved in
flash memory of motion controller.

2) [I/O Parameter] Using method

(1) Run XG5000 to create a project. (Refer to XG5000 program manual for details on how to create the project)
(2) Double-click [I/O parameters] on the project window.

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(3) [I/O Parameter setting] On the ‘I/O Parameter setting’ screen, find and clink the slot 1 (internal) which has embedded
function.

(4) Click the arrow button on the screen above to display the screen where an applicable module can be selected.

(5) A screen will be displayed for you to specify parameters for respective channels as below.
Click a desired item to display parameters to set for respective items.

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Functions of Special Module Monitoring are as described below.

1) [Start of [Special Module Monitoring]

Go through [Online]-> [Connect] and [Monitor]-> [Special module Monitoring] to start. If the status is not online,
[Special Module Monitoring] menu will not be activated.

Notes
1) The screen may not normally be shown due to the lack of system resource. In this case, terminate all
applications and try to start XG5000 again.
2) I/O parameter set in status of [Special Module Monitor] is temporally set to implement the test. Therefore,
when the [special module monitor] status is terminated, the set I/O parameters are extinguished.
3) The test of [Special Module Monitor] is an examination function to check operation of the analog Input/output
module when the sequence program is not made up.

2) How to use special module monitoring

(1) With XG5000 connected to motion controller on-line status), click [Monitor] → [Special Module Monitoring] to display
'Special Module Select' screen as below.
Window shows base/slot information in addition to 'special module type'.

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(2) Select “Special Module” and click [Module information] to display the information as shown below.

(3) Click [Monitor] on the “Special Module” screen in [Special Module List] to display [Special Module Monitoring] screen as
shown below.

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(4) Start Monitoring: Click [Start Monitoring] to show digital input / output data of current operated channel.

Monitoring

Input channel 0 details

Voltage output channel 0 details

Execution screen of [Start Monitoring]

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(5) Test: [Test] is a function to change the parameter of the embedded analog module which is presently set. In case of
clicking the setting value in the bottom of the screen, you can change the parameter. [Test] is able to set only if operation
status of motion controller is STOP.

Execution screen of [Test]

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(6) Max/Min Value Monitor

Max/Min value of input channel in operation can be monitored.
However, visible Max/Min values are based on the present value.
So Max/Min value is not saved when [Monitoring/Test Screen] is closed.

Execution screen of [Max/Min Value Monitor]

(7) close
[Close] is used to escape from the monitoring/test screen.
When the monitoring/test screen is closed, the max value, the min. value and the present value will not be saved
any more.

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Register the variables for each module referring to the special module information that is set in the I/O parameter.
The user can modify the variables and comments.

1) Procedure

(1) Select ‘Automatic Register U Device(G)’ on ‘Edit’

(2) Click ‘Yes’.

(3) As shown below, the variables are registered.

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2) Save variables
(1) The contents of ‘View Variable’ can be saved as a text file.
(2) Select [Edit]  [Export to File].
(3) The contents of ‘View variable’ are saved as a text file.

3) View variables in program

(1) The example program of XG5000 is as shown below.

(2) Select [View]  [Variables]. Click ‘view variables on the ‘view’ of menu.

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(3) Select [View]  [Devices/Variables]. Devices and variables are both displayed.

(4) Select [View] -> [Device/Comments]. Devices and comments are both displayed.

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(5) Select [View] -> [Variables/Comments]. Variables and comments are both displayed.

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13.10.1 I/O Area of Built-in Analog Data

I/O area of built-in analog data is as displayed in table
Built-in analog input
Memory
Variable name Type Description
allocation
_01_AD0_ACT BOOL %UX0.1.16 Channel 0 Active
_01_AD0_AVGTYPE Byte %UB0.1.34 Channel 0 Average processing
_01_AD0_AVGVAL WORD %UW0.1.18 Channel 0 Average value
_01_AD0_DATA WORD %UW0.1.5 Channel 0 output value
_01_AD0_DATATYPE Byte %UB0.1.26 Channel 0 Output data type setting
_01_AD0_ERR BOOL %UX0.1.32 Channel 0 error
_01_AD0_FILTCONST WORD %UW0.1.15 Channel 0 Filter constant
_01_AD0_HOLDVAL BOOL %UX0.1.320 Channel 0 Hold effective conversion value setting
_01_AD0_HOOR BOOL %UX0.1.48 Channel 0 upper limit alarm
_01_AD0_IDD BOOL %UX0.1.72 Channel 0 Input disconnection flag
_01_AD0_LOOR BOOL %UX0.1.56 Channel 0 lower limit alarm
_01_AD0_RANGE Byte %UB0.1.22 Channel 0 Range setting
_01_AD0_RUN BOOL %UX0.1.160 Channel 0 Operation setting
_01_AD1_ACT BOOL %UX0.1.17 Channel 1 Active
_01_AD1_AVGTYPE Byte %UB0.1.35 Channel 1 Average processing
_01_AD1_AVGVAL WORD %UW0.1.19 Channel 1 Average value
_01_AD1_DATA WORD %UW0.1.6 Channel 1 output value
_01_AD1_DATATYPE Byte %UB0.1.27 Channel 1 Output data type setting
_01_AD1_ERR BOOL %UX0.1.33 Channel 1 error
_01_AD1_FILTCONST WORD %UW0.1.16 Channel 1 Filter constant
_01_AD1_HOLDVAL BOOL %UX0.1.321 Channel 1 Hold effective conversion value setting
_01_AD1_HOOR BOOL %UX0.1.49 Channel 1 upper limit alarm
_01_AD1_IDD BOOL %UX0.1.73 CH1 input disconnection detection
_01_AD1_LOOR BOOL %UX0.1.57 Channel 1 lower limit alarm
_01_AD1_RANGE Byte %UB0.1.23 Channel 1 Range setting
_01_AD1_RUN BOOL %UX0.1.161 Channel 1 Operation setting
_01_AD_ACT_ARY ARRAY[0..1] OF BOOL %UX0.1.16 Run by channel
_01_AD_AVGTYPE_ARY ARRAY[0..1] OF BYTE %UB0.1.32 Average process by channel
_01_AD_AVGVAL_ARY ARRAY[0..1] OF WORD %UW0.1.18 Average value by channel
_01_AD_DATATYPE_ARY ARRAY[0..1] OF BYTE %UB0.1.26 Input data type by channel
_01_AD_DATA_ARY ARRAY[0..1] OF WORD %UW0.1.5 Conversion value by channel
_01_AD_ERR_ARY ARRAY[0..1] OF BOOL %UX0.1.32 Error by channel
_01_AD_FILTCONST_ARY ARRAY[0..1] OF WORD %UW0.1.15 Filter constant by channel

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Memory
Variable name Type Description
allocation
_01_AD_HOLDVAL_ARY ARRAY[0..1] OF BOOL %UX0.1.320 Specify to hold valid conversion value for each
channel
_01_AD_HOOR_ARY ARRAY[0..1] OF BOOL %UX0.1.48 Alarm (Upper Limit) by channel
_01_AD_IDD_ARY ARRAY[0..1] OF BOOL %UX0.1.72 Input disconnection detection by channel
_01_AD_LOOR_ARY ARRAY[0..1] OF BOOL %UX0.1.56 Alarm (Lower Limit) by channel
_01_AD_RANGE_ARY ARRAY[0..1] OF BYTE %UB0.1.22 Range setting by channel
_01_AD_RUN_ARY ARRAY[0..1] OF BOOL %UX0.1.160 Operation setting by channel

Built-in analog output

Memory
Variable name Type Description
allocation
_01_DA0_ACT BOOL %UX0.1.24 Channel 0(Voltage) run
_01_DA0_DATA WORD %UW0.1.8 Channel 0(Voltage) Input data
_01_DA0_DATATYPE Byte %UB0.1.28 Channel 0 Output data type setting
_01_DA0_ERR BOOL %UX0.1.40 Channel 0(Voltage) Error
_01_DA0_INTP BOOL %UX0.1.64 Channel 0(Voltage) Interpolation Enabled
_01_DA0_INTPMTHD Byte %UB0.1.46 Channel 0(Voltage) Interpolation method
_01_DA0_INTPTIME Byte %UB0.1.48 Channel 0(Voltage) Interpolation time setting
_01_DA0_INTPVAL WORD %UW0.1.25 Channel 0(Voltage) Interpolation value
_01_DA0_OUTEN BOOL %UX0.1.112 Channel 0(Voltage) Output enable
_01_DA0_OUTSTAT WORD %UW0.1.21 Channel 0 output status setting
_01_DA0_RANGE Byte %UB0.1.24 Channel 0 Range setting
_01_DA0_RUN BOOL %UX0.1.168 Channel 0 Operation setting
_01_DA1_ACT BOOL %UX0.1.25 Channel 1(Voltage) run
_01_DA1_DATA WORD %UW0.1.9 Channel 1(Voltage) Input data
_01_DA1_DATATYPE Byte %UB0.1.29 Channel 1 Output data type setting
_01_DA1_ERR BOOL %UX0.1.41 Channel 1(Voltage) Error
_01_DA1_INTP BOOL %UX0.1.65 Channel 1(Voltage) Interpolation Enabled
_01_DA1_INTPMTHD Byte %UB0.1.47 Channel 1(Voltage) Interpolation method
_01_DA1_INTPTIME Byte %UB0.1.49 Channel 1(Voltage) Interpolation time setting
_01_DA1_INTPVAL WORD %UW0.1.26 Channel 1(Voltage) Interpolation value
_01_DA1_OUTEN BOOL %UX0.1.113 Channel 1(Voltage) Output enable
_01_DA1_OUTSTAT WORD %UW0.1.22 Channel 1 output status setting
_01_DA1_RANGE Byte %UB0.1.25 Channel 1 Range setting
_01_DA1_RUN BOOL %UX0.1.169 Channel 1 Operation setting
_01_DA_ACT_ARY ARRAY[0..1] OF BOOL %UX0.1.24 Run by channel
_01_DA_DATATYPE_ARY ARRAY[0..1] OF BYTE %UB0.1.28 Input data type by channel
_01_DA_DATA_ARY ARRAY[0..1] OF WORD %UW0.1.8 Input values by voltage channel
_01_DA_ERR_ARY ARRAY[0..1] OF BOOL %UX0.1.40 Error by channel
_01_DA_INTPMTHD_ARY ARRAY[0..1] OF BYTE %UB0.1.46 Interpolation method setting by channel
_01_DA_INTPTIME_ARY ARRAY[0..1] OF BYTE %UB0.1.48 Interpolation time setting by channel

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Memory
Variable name Type Description
allocation
_01_DA_INTPVAL_ARY ARRAY[0..1] OF WORD %UW0.1.25 Interpolation value by channel
_01_DA_INTP_ARY ARRAY[0..1] OF BOOL %UX0.1.64 Interpolation enabled by channel
_01_DA_OUTEN_ARY ARRAY[0..1] OF BOOL %UX0.1.112 Output enable setting by channel
_01_DA_OUTSTAT_ARY ARRAY[0..1] OF WORD %UW0.1.21 Output status setting by channel
_01_DA_RANGE_ARY ARRAY[0..1] OF BYTE %UB0.1.24 Range setting by channel
_01_DA_RUN_ARY ARRAY[0..1] OF BOOL %UX0.1.168 Operation setting by channel

Built-in analog common

Variable name Type Memory allocation Description

_01_ERR BOOL %UX0.1.0 Module error

_01_RDY BOOL %UX0.1.15 Module ready
_01_SETTINGERR WORD %UW0.1.27 Setting error information

1) Built-in analog module ready/error flag (_01_RDY/_01_ERR)

(1) %UX0.1.15: It will be ON when module is powered or reset with D/A conversion ready to process A/D conversion.
(2) %UX0.1.0 : It is a flag to display the error status of built-in analog module
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.0
Ready

Error
- - - - - - - - - - - - - -

Module ready Module error

Bit On (1) : Normal Bit On (1) : Error
Bit Off (0) : Error Bit Off (0) : Normal

2) Channel active information

(1) This area shows the channel being used.
(2) _01_AD0_ACT (%UX0.1.16): Input channel 0 active
_01_AD1_ACT (%UX0.1.17): Input channel 1 active
_01_DA0_ACT (%UX0.1.24): Output channel 0 active
_01_DA0_ACT (%UX0.1.25): Output channel 1 active
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Output channel 0

Output channel 1

%UW0.1.1
Input channel 0

Input channel 1

- - - - - - - - - - - -

Active channel information Active channel information

Bit On (1) : Active Bit On (1) : Active
Bit Off (0) : Inactive Bit Off (0) : Inactive

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3) Error channel information

(1) This area shows the channel error status.
(2) _01_AD0_ERR (%UX0.1.32): Input channel 0 error
_01_AD1_ERR (%UX0.1.33): Input channel 1 error
_01_DA0_ERR (%UX0.1.40): output channel 0 error
_01_DA0_ERR (%UX0.1.41): output channel 1 error

4) Input upper/lower alarm flag

(1) This area shows upper/lower alarm per channel status.
(2) _01_AD0_HOOR (%UX0.1.48): Input channel 0 upper limit alarm
_01_AD0_HOOR (%UX0.1.49): Input channel 1 upper limit alarm
_01_AD0_LOOR (%UX0.1.56): Input channel 0 lower limit alarm
_01_AD0_LOOR (%UX0.1.57): Input channel 1 Lower limit alarm
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.3
Input channel 0

Input channel 1

Input channel 0

Input channel 1
- - - - - - - - - - - -

Lower alarm detection Upper alarm detection

Bit On(1) : Lower alarm status Bit On(1) : Upper alarm status
Bit Off(0) : Normal Bit Off(0) : Normal

5) Disconnection input/interpolation output status

(1) This area shows the channel detecting input disconnection and being outputting interpolation.
(2) _01_DA0_INTP (%UX0.1.64): Output channel 0 outputting interpolation
_01_DA0_INTP (%UX0.1.65): Output channel 1 outputting interpolation
_01_AD0_IDD (%UX0.1.72): Input channel 0 lower Disconnection Detection
_01_AD1_IDD (%UX0.1.73): Input channel 1 upper Disconnection Detection
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Output channel 0

Output channel 1

%UW0.1.4
Input channel 0

Input channel 1
disconnection

disconnection

interpolation

interpolation

- - - - - - - - - - - -

Input disconnection detection Interpolation output status

Bit On(1) : Disconnection Bit On(1) : Interpolation status
Bit Off(0) : Norm al Bit Off(0) : Don't

6) Digital output value

(1) This area shows converted(A/D) digital output value by channel in buffer memory (%UW0.1.5 ~%UW0.1.6)
(2) Digital output value is stored in 16-bit binary number.
(3) _01_AD0_DATA (%UW0.1.5): Input channel 0 conversion value.
_01_AD1_DATA (%UW0.1.6): Input channel 1 conversion value.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.5 Input channel 0 conversion value

%UW0.1.6 Input channel 1 conversion value

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7) Output permission setting

(1) The output enable / disable for each channel can be set.
(2) When the output permission is not set, the output of all channels will be prohibited
(3) _01_DA0_OUTEN (%UX0.1.112): Output channel 0 Enable Output.
_01_DA1_OUTEN (%UX0.1.113): Output channel 1 Enable Output.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Output channel 0

Output channel 1
%UW0.1.7

- - - - - - - - - - - -

-
Output permission information
Bit On(1) : Permission
Bit Off(0) : Prohibition

8) Output digital input values

(1) Unsigned value (-192~16,191 / 0~16,191), Signed value (-8,192~8,191 / -8,000~8,191), Precise value(-952~5,047 / -
60~5,059 / -120~10,119 / -10,240~10,239 / 3,808~20,191 / 0~20,239), Percentile value(-120~10,119 / 0~10,119) can
be used within these ranges depending on the setting of input data type.
(2) If the digital input value is not set, it will be handled as '0'.
(3) _01_DA0_DATA (%UW0.1.8): Output channel 0 input data
_01_DA1_DATA (%UW0.1.9): Output channel 1 input data

Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.8 Output channel 0 digital data

%UW0.1.9 Output channel 1 digital data

9) Setting operation channel

(1) If the operating channel is not set, overall channel status is STOP.
(2) _01_AD0_RUN (%UX0.1.160): Input channel 0 operating setting
_01_AD1_RUN (%UX0.1.161): Input channel 1 operating setting
_01_DA0_RUN (%UX0.1.168): Output channel 0 operating setting
_01_DA1_RUN (%UX0.1.169): Output channel 1 operating setting
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Output channel 0

Output channel 1

%UW0.1.10
Input channel 0

Input channel 1

- - - - - - - - - - - -

Output channel setting Input channel setting

Bit On (1) : Operation Bit On (1) : Operation
Bit Off (0) : Stop Bit Off (0) : Stop

10) Input range setting

(1) The ranges of analog input voltage are DC 1~5V, DC 0~5V, DC 0~10V, DC -10~10V, the ranges of analog current
input are DC 4~20mA, DC 0~20mA.

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(2) When the input range is not set, it is processed as DC 4~20mA range.
(3) _01_AD0_RANGE (%UB0.1.22): Input channel 0 range setting.
_01_AD1_RANGE (%UB0.1.23): Input channel 1 range setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.11
Don't Care Input channel 1 Don't Care Input channel 0

Input range setting (4 Bit per channel)

0 : 4~20㎃
1 : 0~20㎃
2 : 1~5V
3 : 0~5V
4 : 0~10V
5 : -10~10V

11) Output range setting

(1) The ranges of analog output voltage are DC 1~5V, DC 0~5V, DC 0~10V, DC -10~10V.
(2) When the input range is not set or it is entered out of setting values, it is handled as range of DC 1~5V.
(3) _01_DA0_RANGE (%UB0.1.24): Output channel 0 range setting.
_01_DA1_RANGE (%UB0.1.25): Output channel 1 range setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.12
Don't Care Output channel 1 Don't Care Output channel 0

Output range setting (4 Bit per channel)

0 : 1~5V
1 : 0~5V
2 : 0~10V
3 : -10~10V

12) Built-in analog Input data type setting

(1) The range of digital input data (A/D conversion) can be specified for respective channels.
(2) If the input data range is not specified, the range of all the channels will be set to 0 ~ 16000.
(3) _01_AD0_DATATYPE (%UB0.1.26): Input channel 0 - A/D Conversion output data type setting.
_01_AD1_DATATYPE (%UB0.1.27): Input channel 1 - A/D Conversion output data type setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.13
Input Input
Don't Care Don't Care
channel 1 channel 0

A/D conversion output data type setting (2 Bit per channel) 4~20㎃ : 4,000~20,000
0 : 1~16,000 0~20㎃ : 0~20,000
1 : -8,000~8,000 1~5V : 1,000~5,000
2 : Precise value 0~5V : 0~5,000
3 : 0~10,000 0~10V : 0~10,000
-10~10V : -10,000~10,000

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13) Built-in analog Output data type setting

(1) The range of digital input data (D/A conversion) can be specified for respective channels.
(2) If the input data range is not specified, the range of all the channels will be set to 0 ~ 16000.
(3) _01_DA0_DATATYPE (%UB0.1.28): Output channel 0 – D/A Conversion output data type setting.
_01_DA1_DATATYPE (%UB0.1.29): Output channel 1 – D/A Conversion output data type setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.14
Output Output
Don't Care Don't Care
Channel 1 Channel 0

D/A conversion input data type setting (2 Bit per channel)

0 : 1~16,000 1~5V : 1,000~5,000
1 : -8,000~8,000 0~5V : 0~5,000
2 : Precise value 0~10V : 0~10,000
3 : 0~10,000 -10~10V : -10,000~10,000

14) Filter constant setting

(1) When the filter constant is specified with 0, the filter will not be operated.
(2) If input filter constant is not set, the filter will not be operated
(3) _01_AD0_FILCONST (%UW0.1.15): Input channel 0 Filter constant
_01_AD0_FILCONST (%UW0.1.16): Input channel 1 Filter constant
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.15 Input channel 0 filter constant(0 or 64,000ms)

%UW0.1.16 Input channel 1 filter constant(0 or 64,000ms)

15) Average process method setting

(1) When setting average process, the average process method is selected among time average, count average, moving
average, or weighted average.
(2) If setting average process is not specified, all channels will not handle the average process.
(3) _01_AD0_AVGTYPE (%UB0.1.34): Input channel 0 average process method setting.
_01_AD1_AVGTYPE (%UB0.1.35): Input channel 1 average process method setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.17
Input Input
Don't Care Don't Care
channel 1 channel 0

Average process method setting (4 Bit per channel)

0 : Sampling
1 : Time average
2 : Count average
3 : Moving average
4 : Weighted average

16) Average values

(1) Set to range of 4 ~ 16,000 as time average value.

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(2) Set to range of 2 ~ 64,000 as count average value.

(3) Set to range of 2 ~ 100 as moving average value.
(4) Set to range of 1~ 99 as weighted average value.
(5) If average process method is set to 0(sampling process) and average value is set to 0, the input channel will not do
average process, and sampling value will be output.
(6) _01_AD0_AVGVAL (%UW0.1.18): Input channel 0 Average value.
_01_AD1_AVGVAL (%UW0.1.19): Input channel 1 Average value.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.18 Input channel 0 average value

%UW0.1.19 Input channel 1 average value

17) Hold last value setting

(1) In case that hold last value function is set at the same time, if the invalid value is come, the late valid value will only be
retained.
For example, firstly, it is operated with 4~20mA. Secondly, 10mA comes in. Finally, the signal is immediately falling
down to 3mA without falling down the current continually. In this case, relevant channels will retain the output value of
10mA.
(2) When this function is set, digital output value related with actual range of analog input is only shown.
Refer to the actual range of the analog from "chapter 13.3".
(3) For the detailed usage, refer to chapter 13.5.5 Hold Last Value Function.
(4) Setting of hold last value is as below.
_01_AD0_HOLDVAL (%UX0.1.320): Input channel 0 hold effective conversion value setting.
_01_AD1_HOLDVAL (%UX0.1.321): Input channel 1 hold effective conversion value setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.20 Input channel 0

- - - - - - - - - - - - - - Input channel 1

Channel setting
Bit On (1) : Permission
Bit Off (0) : Prohibition

18) Output status setting

(1) When the motion controller is stopped, set the analog output status
(2) When the output status setting is not specified, output the previous value.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Channel 0
%UW0.1.21 Don't care
status
Channel 1
%UW0.1.22 Don't care
status

Output channel status setting (2 Bit)

00 : Previous value
01 : Min value
02 : Mid value
03 : Max value

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Variable Memory content Setting

Channel 0 output status Input data type setting (bit)
_01_DA0_OUTSTAT %UW0.1.21  00 : Previous value
setting
 01 : Minimum value
Channel 1 output status  10 : Midian values
_01_DA1_OUTSTAT %UW0.1.22
setting  11 : Maximum value

19) Interpolation method setting

(1) Shows the setting of the interpolation method of each channel.
(2) _01_DA0_INTPMTHD (%UB0.1.46): Output channel 0 interpolation method setting
_01_DA1_INTPMTHD (%UB0.1.47): Output channel 1 interpolation method setting
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Output Output
%UW0.1.23 Don't Care Don't Care
channel 1 channel 0

Interpolation method setting (2 Bit per channel)

0 : Prohibition
1 : Linear
2 : S-Curve

20) Interpolation time setting

(1) Shows the setting of interpolation time of each channel.
(2) _01_DA0_INTPTIME (%UB0.1.48): Output channel 0 interpolation time setting.
_01_DA1_INTPTIME (%UB0.1.49): Output channel 1 interpolation time setting.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Output Output
%UW0.1.24 Don't Care Don't Care
channel 1 channel 0

Interpolation time setting (2 Bit per channel)

0 : 10[ms]
1 : 100[ms]
2 : 1[s]
3 : 60[s]

21) Interpolation operation value

(1) Shows the interpolation operation value of each channel.
(2) _01_DA0_INTPVAL (%UW0.1.25): Output channel 0 interpolation operation value.
_01_DA1_INTPVAL (%UW0.1.26): Output channel 1 interpolation operation value.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.25 Input channel 0 operation value

%UW0.1.26 Input channel 1 operation value

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22) Setting error code

(1) Shows the error code of each channel.
(2) If it is normal, the error code is 0.
(3) _01_SETTINGERR (%UW0.1.27): Error information.
Bit15 Bit4 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

%UW0.1.27 Setting error information

Error code
Type LED sign Description Priority Note
(Decimal)
10# Setting error of input channel range 1
AD LED
20# Setting error of input channel filter value 2
Flickering 1s
Setting error of input channel average
30# intervals 3
value #: channel
Error 40# Setting error of output channel range 4 number
DA LED Setting error of output channel digital (Channel 0~1)
50# 5
Flickering 1s input value range
intervals Output channel interpolation method
60# 6
setting error

(4) When errors of two or more are caused, the high priority error code is saved. And when the same error code is
caused in channels of two or more, the error code of low channel number is saved preferentially.

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1) I/O Parameters window

(1) The input channel 0 is set with operation channel and the range is set with 4~20mA.
(2) The voltage output channel 0 is set with operation channel and the range is set with 1~5V.

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2) Example of program

(1) Input Program Example

(가) The '%MX0' is on while the module normally operates.
%UX0.1.0 (module error)= OFF
%UX0.1.15 (module ready)= ON
%UX0.1.16 (channel 0 run) = ON
% UX0.1.32 (Channel 0 error)= OFF
(나) When the '%MX0' is on, conversion value (%UW0.1.5) of CH0 is moved to the '%MW100'.
(다) If the error is caused on CH0, %UX0.1.72 (CH0 disconnection) will be on and the ‘%MX1’ will be on.

(2) Output Program Example

(가) The '%MX10' is on while the module normally operates.
%UX0.1.0 (module error)= OFF
%UX0.1.15 (module ready)= ON
%Ux0.1.24 (voltage output channel 0 run) = ON
%Ux0.1.40 (voltage output channel 0 error)= OFF
(나) When the '%MX10' is on, voltage channel 0 output status (%UX0.1.112) is on, and the output is permitted.
(다) If ‘%MX10’ is on, ‘%MW200’ data is moved to voltage channel 0 output value (%UW0.1.8) and then it is output.

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The chapter describes diagnostics and measures method in case of any trouble occurs during use of built-in analog module.

13.12.1 LED Indication by Errors

Built-in analog module has two LEDs and it is possible to check whether it had any error with the indication of LEDs.

When CH is
Item Normal Status When parameter setting is error
disconnected
Flickering 1s Flickering 1s intervals
AD LED ON
intervals (Input parameter setting error)
Flickering 1s intervals
DA LED ON -
(Output parameter setting error)
Normal Operation of all
operation functions Operation of all functions
Module Operation
Operation of all Shows minimum (Operation as parameter default)
functions input value.
Corrective Actions - Check wiring Check parameter setting

13.12.2 Check the Built-in Analog Module

The status of built-in analog module can be checked through the system monitor of XG5000.

1) Execution sequence
You can run it in one of the ways below.
(1) [Monitor]  [System Monitor]  Click the right button of mouse on the painting of module.  [Module
Information]
(2) [Monitor]  [System Monitor]  Double click the painting of module
(3) [Monitor]  [Special Module Monitor]  Built-in Analog Module Selection  Click the module information
(4) [Online]  [I/O Information]  Built-in Analog Module Selection  Click the details
(5) [Online]  [I/O Information]  Built-in Analog Module Double click

2) CPU module information

(1) OS version: OS version of module is shown.
(2) OS date: The OS prepared date of module is shown.
(3) Module Status: The present error code is shown.

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13.12.3 Failure Diagnostics and Action method

1) AD, DA LEDs are off

The AD or DA LED are turned off.

AC220V is supplied.

No Supply AC220V power.

Yes

I/O information is shown in XG5000

software.

No Call our near agency or A/S center.

Yes

When the abnormal PLC module is

changed into normal one,
it operates well.

Yes Call our near agency or A/S center.

2) LED is flickering
AD or DA LED is flickering.

AD or DA LED is flikering 0.4s intervals.

Supply external DC24V power
Yes and wire correctly.
No

AD or DA LED is flikering 1s intervals.

The wiring is normal.

Make wiring correctly by referring the
No instructions. (Check disconnection)
Yes

The parameter setting is correct.

(Check 'PUT' )
The operation parameter is error.
Set correctly by referring parameter setting
No
rules from instructions.
(Check error code)

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3) The analog input value is abnormal.

The analog input value is abnormal.

The external DC24V is normal.

Supply input power source of external
No DC24V.
Yes

FG ground is normal.
Modify FG ground correctly by referring
No wiring method from instructions.
Yes
The parameter setting is normal.
(Permission of driving channels,
Input range setting)
Modify correctly by referring parameter
No
setting method from instructions.
Yes

External terminal wiring is normal.

Modify correctly by referring wiring method

No
from instructions.
Yes

Call our near agency or A/S center.

4) The analog output value is abnormal.

The analog output value is abnormal.

The external DC24V is normal.

Supply input power source of external
No DC24V.
Yes

The wiring of each channel is normal.

No Refer wiring method from instructions.

Yes

The parameter setting is normal.

(Operation channel , Output permission,
Output range )
Set the parameter by referring the method of
No
parameter setting from instructions.
Yes

Call our near agency or A/S center.

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Chapter 14 Local Ethernet Function

14.1 Local Ethernet Function
Motion controller can carry out the functions of Ethernet server using internal local Ethernet function.

14.1.1 Local Ethernet Parameter Settings

Make a new project. Then user can see Local Ethernet Parameters as shown below figure.

If user selects Local Ethernet Parameter item, Local Ethernet Parameter setting window will be displayed.

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To use the Local Ethernet function, user should set the parameters.

(1) TCP/IP Setting

Classification Description
IP address Specify the IP Address of the applicable motion controller.

Value necessary to check if destination station is on the same network of the

Subnet mask
applicable station.
IP address of Gateway or Router to transmit/receive data through the public
Gateway network or a network different from the network where the applicable FEnet
module is included.
If there is no request during the specified time from the host PC or HMI (Human
Machine Interface) connected for dedicated communication, it will end the
dedicated service connection regardless of normal ending procedures
Reception waiting time supposing that the higher level system is with error.
This time is used in dedicated service to reset the channel when any error
occurs on the destination station or the cable is disconnected. (available range
is 2 ~ 255 sec)
It is the time it takes CPU to send a data to the destination station if the
destination station does not answer the data sent by applicable station during
setting time. (Applicable station considers it as a data missing.)
(available range is 10 ㎳ ~ 6000 ㎳)

Retransmission time-out * Note: Retransmission time-out should be set depending on the network
(10 ㎳) situation.
If the setting time is too long, it takes a long time to resend a data in case of
data missing.
This will deteriorate the network performance. But if the setting time is too
short, there is a chance to make a frequent disconnection or increase the load
to the network.
Number of dedicated
Number of TCP dedicated services accessible at a time. (Max.4)
connections

(2) Driver (Server) setting

Classification Description
XGT server Set when operated as dedicated communication server (slave)

Modbus TCP/IP server Set when operated as Modbus server driver (slave)

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(3) Host table setting

Classification Description
Access allowed to applicable module of IP address registered in host table.
Enable host table
Unregistered client (IP address) is prohibited from connection when enabled.

(4) Available Device address

Device Address Size(Word) Description

I %IW0.0.0 ~ %IW127.15.3 8192 Available Read/Write/Monitor
Q %QW0.0.0 ~ %QW127.15.3 8192 Available Read/Write/Monitor
M %MW0 ~ %MW1048575 1048576 Available Read/Write/Monitor
U %UW0 ~ %UW0.15.31 512 Available Read/Write/Monitor
F %FW0 ~ %FW65535 65536 Available Read/Monitor
K %KW0~%KW9125 9126 Available Read/Monitor

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14.1.2 Local Ethernet Connection with XG5000

After finishing Local Ethernet Parameter settings, download the settings to the motion controller, then user can
connect to XG5000.
Select Online Settings and set the options as shown below figure.
(Notice: Motion controller’s Ethernet port does not support the relay function about remote connection. Then, motion
controller doesn’t support the remote connection.)

Select the connection setting of XG5000. Then, select the options of connection option as below.

Click the setting button to specify Ethernet IP. Click OK after specify the Ethernet IP set before.
User can find the IP information available now.

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14.1.3 Local Ethernet Connection with XGT Server

Set the Local Ethernet Parameters as shown below figure. User can use it as a XGT Server (LS ELECTRIC dedicated
Protocol Communication).

14.1.4 Local Ethernet Connection with TCP/IP Server

Set the Local Ethernet Parameters as shown below figure. User can use it as a Modbus server.

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Below figure is about Modbus settings. .

Note
1) Modbus TCP/IP server connection function allows RST packet transmission depending on the network
condition.(TCP/IP protocol)
So the user devices connecting to CPU module should have RST packet process.
2) Connection to user devices can be disconnected for retransmission time-out.
For the retransmission timeout period, the connection is terminated after waiting twice as long as the previous waiting
time after retransmission time setting value set by the user in the local Ethernet parameter(default value: 100)X10ms),
the number of retransmissions(three times, twice the previous waiting time) and three transmissions.
Retransmission time-out = retransmission time-out value(set in the Local Ethernet Parameter window) x 30ms
3) Too much Network loads can affect a scan time. So user should consider appropriate network loads for CPU scan time.

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14.1.5 Local Ethernet Diagnosis Information Function

Motion controller provides local Ethernet diagnosis information function to monitor the status of local Ethernet.

(1) Click the System Diagnosis as shown in the left figure after access through XG5000.

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(2) Then, the current system is displayed as shown in the below figure. Put the mouse on the figure of the module and
click the right mouse button.

(3) If you click the loca1l Etnernet diagnostic information among the menus that occur when clicking the right mouse
button, the local Etnernet diagnostic information window will be created as shown below. Through the local Ethernet
information window, you can monitor the Ethernet basic information, exclusive service information and detailed
diagnostic information of clients connected to the exclusive information.

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14.2 FTP Server Functions

14.2.1 Outline
Motion controller supports the Transfer Protocol (File Transfer Protocol) to download the data log file
from a remote site through built-in Ethernet port. The File Transfer Protocol is TCP/IP based protocol
to be designed for file transfer and you can manage files in a remote site by using the File Transfer
Protocol. The File Transfer Protocol that is divided into the server and the client transmits or receives
files.

1. Access request 2. Acceptance of access

4. Receiving data channel 3. Allocation of data channels

Client Server
5. sending commands 6. Receiving commands
7. Data send/receive

14.2.2 Support Functions

You can access to motion controller built-in FTP server through FTP client. After access, you can
copy the data log file saved in the micro-SD card to the user’s PC where FTP client is installed or
other devices. However, in terms of the FTP function, only the download function is provided to
prevent arbitrary modification or changes of data log files through FTP.

(1) Read File (File download)

It is the function to import and save files to the devices with FTP client or PC (Personal Computer)
from motion controller’s FTP server. The files are saved to the designated directory path of the
devices with FTP client or PC.

File download

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14.2.3 Setting FTP Server Parameters

You need to set parameters through XG5000 to use the FTP server function.

(1) Input the “TCP/IP setting” parameters in the window for setting FEnet basic.
- Input the IP address, subnet mask, gateway, DNS server address.
- This address is commonly used for XGT server, Modbus TCP/IP server, SNTP service, FTP service.

(2) Check [Activate FTP server function] as shown below figure.

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(3) Enter the user ID and password to be used to access the FTP server.
- You can change the user ID and password through XG5000 only.

(4) Check ‘Display Password’ and verify whether the entered password is correct.

(5) Enter the port number. (Default: 21)

(6) Enter the timeout (Default: 20 sec)

- The timeout is the time required to disconneted automatically, if you do not use after connecting to the FTP server.

(7) If you press the OK button, setting the parameters to use FTP is completed.

(8) When you execute [Online]  [Write Parameter], the parameters are written in the motion controller.

Note

1. Unless you set the user ID and password, basic ID and password will be set initially
- Default setting ID: LSIS
- Default password: 0000
2. Rules for applying the user ID and password
- You can enter the user ID and password that are composed of alphabetical characters and numbers
but special characters are not available.
- They must be case-sensitive and must not exceed the maximum of 8 digits.

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14.2.4 How to Access to the FTP Server

Just one user can access to the FTP server at a time so using Windows FTP client is recommended.

(1) How to use WINDOWS command prompt

(a) First of all, execute the command prompt in Windows

Note

1. The compatibility with other commercial client programs other than Windows FTP client is not
guaranteed.
2. It is not support the multiple sessions, only one user can access at the same time.
3. To execute the command prompt window, enter ‘cmd’ to the window or press [Start] 
[All Programs]  [Auxiliary Programs]  [Command Prompt].
For more details on execution of command prompt, refer to the Windows manual.

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(b) Enter the FTP command in command prompt to start the FTP session.

(c) Enter the ‘open [IP address]’to access to the FTP server
- You can enter the FTP [IP address] in the command prompt instead of using the open command.

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(d) Enter the user ID and password to access to the FTP server.
- It is normal that the password is not displayed on the screen.

(e) When login is completed successfully, the message will be displayed; “User name accepted.”

[Completion of FTP server access and login]

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[Failure of FTP server login]

(f) In case you access to the FTP server through windows command prompts, you cannot see the progress status of
file download. Accordingly, you can check the current progress of file download by activating the HASH function.

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(g) You can view the directories and file lists that exist in the drive currently through the ‘DIR’ command.

(h) You can go into the lower folder through the ‘cd [Folder name]’command. If you execute the ‘DIR’ command again
after going into the lower folder, only the files ahasnd folder lists that exist in the lower folder will be displayed.

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(i) Designate the directory path of the FTP client side that will download the file through the ‘lcd’ command.

(j) Select the file to be imported through the ‘get’ command and download it. At this time, the file is located in the sub-
group folder in DATALOG.

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(k) When the HASH function is activated and deactivated, the transmission status is shown in as below.

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(2) FTP server command list

The windows FTP provides the below commands basically. You can check the further commands through ‘?’
commands. There are also unserviceable functions to protect data log files so refer to the below list.
Commands Operations Commands Operations
? Displaying the available commands trace Setup/cancellation of packet trace
Termination and end of the ftp
bye type Setting the file transfer type
session
Transmission of the new user
cd Changing remote working directory user
information
close Termination of the ftp session verbose Setup/cancellation of verbose mode
open Connection to the remote ftp quote Sending random ftp commands
Executing interactive questions to
prompt recv Receiving files
multiple commands
Enumerate the contents of remote
put Sending one file (Not available) dir
directories
Printing the remote computer’s
pwd disconnect Termination of the ftp session
working directory
Termination and end of the ftp
quit get Receiving files
session
Setup/cancellation of meta
Changing the local working
lcd glob character extension of local file
directory
names
Setup/cancellation of '#' printing for
literal Sending random ftp commands hash the
transmitted buffer
Enumerate the contents of remote
ls help Printing the local HELP information
directories
status Viewing the current status cd .. Move to the upper directory
Remove the remote computer’s Make the remote computer’s
rmdir mkdir
directory (Not available) directory (Not available)
Delete the remote computer’s file
rename Change file name (Not available) delete
(Not available)
send Send a file (Not available)

(3) Command Usage

Commands Description Operations Example
Attempting to access to the server by open [host name] open LSISHOST
open entering the specific FTP server’s host
name or IP. open [IP address] open 166.0.1.254
Showing the whole files saved to the
dir basic unit’s SD card with the file dir [drive volume:\] dir B:\
information
Reading the specific file from the basic get [File path and file name
get get LSIS.CSV
unit’s SD card to be read from the server]
Showing only the names of files saved
ls ls [drive volume:\] ls B:\
the SD card of the basic unit
Braking and disconnecting the FTP
quit quit quit
server and FTP session
Braking and disconnecting the FTP
bye Bye bye
server and FTP session
Moving to the upper directory from the
cd .. cd .. cd ..
current one.

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Note
1. You need to distinguish ASCII from Binary command depending on the file extension. If you transmit the
file with a wrong mode, the file will not work properly.
(a) File extension names using ASCII: html, htm, txt, cgi, pl, php, phtml, php3, sql, c, ph, py, etc.
(b) File extension names using Binary: gif, jpg, swf, png, exe, asf, wmv, zip, rar, gzip, tar, gz, etc.
2. If you download the network setting parameters when accessing to the FTP server, the current
download will stop and serious errors may occur in the relevant file so you cannot open it in the PC.
Accordingly, if possible, you are recommended to disconnect the FTP server when downloading the
network setting parameters.

(4) FTP response code list

Response codes Description
150 File status okay; about to open data connection
200 Command okay
202 Command not implemented, superfluous at this site
211 Type: ASCII, Structure: FILE, Mode: Stream
215 UNIX Type: L8 Version: Nucleus-ftpd
220 Nucleus FTP Server (Version 1.7) ready
221 Service closing control connection. Logged out if appropriate.
226 Closing data connection. Requested file action successful.
230 User logged in, proceed
250 Requested file action okay, completed.
331 User name okay, need password
500 Syntax error, command unrecognized.
502 Command not implemented. The server does not support this command.

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14.2.5 Firewall Setting

When you access to the FTP server through Windows command prompts, FTP access may not be smooth since the
FTP access is applied. When you have bad access, cancel a firewall or apply exception handling.
If the FTP access is not smooth, refer to the below.

(1) Cancellation of a firewall

Clear the window’s own firewall.

(a) Execute the control panel.

(b) Execute the Windows Firewall.
(c) Execute setup or clear of the Windows Firewall.
(d) Clear all firewalls as below.

Note

If you clear the Windows Firewall, you may be exposed to various external intrusions so you are
recommended to register the exceptional rules to a firewall.

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(2) Registration of exceptional rules

You can refer to the following procedures to register exceptional rules to a firewall.

(a) Execute the control panel.

(b) Execute the Windows Firewall.
(c) If you execute the advanced settings, the below screen will pop up.

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(d) Choose the inbound rules.

(e) Choose ‘New Rules’ at the top of the right side.
(f) Create the rules with the method preferred by a user.

Note
For registering exceptional rules, refer to the window manual.

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14.2.6 Speed up of FTP

Motion controller’s built-in FTP server is supposed to send one data packet per one scan to minimize the influence on
the scan time. In this structure, if the response to the transmitted data packet is not received immediately, the next
packet will not be sent until the response is obtained. However, windows is usually supposed to send the response after
waiting until 2 packets are received or after 200ms, instead of responding all when receiving the data packet.
Accordingly, you are recommended to set that ACK is sent whenever the TCP/IP of windows receives one packet
through a register as below.

(1) Select the [Start] button of Windows for execution.(Shortcut key /Windows key + R)

(2) Input ‘regedit’ to the execution window and run the process.

(3) Check the below path.

HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\services\Tcpip\Parameters\Interfaces

(4) Depending on the devices installed in the PC, You can see the folders are created

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(5) If there are several register folders, select one by one and find the folder where the current PC’s IP address is set in
the right register value.

(6) Click with the right mouse button on the right screen of the relevant folder and select New] [DWORD(32bit) value].

(7) Enter the value name as shown below.

- Value name: TcpAckFrequency (It should be case-sensitive.)

(8) Double-click the created register and enter 1 to the value data.

(9) Reboot the computer.

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14.3 SNTP Client Functions

14.3.1 Outline of the Time Synchronization Protocol
Motion controller supports the NTP (Network Time Protocol) that obtains the time information by accessing to the
SNTP(Simple Network Time Protocol)server and synchronizes time. The NTP is the protocol to synchronize the time of
the PLC connected to the network.

14.3.2 SNTP Parameter Setting

You can set up the parameters to use the SNTP server function as shown below.

Procedures Description

Setting for
SNTP

1. Input the [TCP/IP setting] parameters in the Ethernet basic setting window.
- Enter the IP address, subnet mask, gateway, DNS server address.
- This address is commonly used for FTP server, SNTP client service, etc.
2. Check [SNTP Time Synchronization Enable].
3. Then, set up the SNTP server’s IP address and Port No., synchronization cycle, TIME
ZONE setting.

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Procedures Description

Write
parameters
and Link
2
Enable

Select [Online] → [Write] in XG5000’s project window.

3 If you click the [OK] button, ‘Write Parameters’ will be done.

Note

1. When parameter setting is done, the PLC reads periodically the time value from the SNTP server.
2. The SNTP server IP address is initially set as follows.
IP Port
211.233.84.186 123
211.233.40.78 123
178.63.135.195 123
104.131.51.97 123

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Note
3. If you want to use other SNTP servers, change the IP address and port No. of the SNTP server
before input. Below is an example of public NTP server and port.
Server address IP Port Support
time.apple.com 17.253.6.243 123 Apple
time.asia.apple.com 17.83.253.7 123 Apple
time.euro.apple.com 17.72.148.52 123 Apple
ntp.kornet.net 168.126.3.6 123 KT(Korea)
time.kriss.re.kr 210.98.16.100 123 KRISS(Korea)
time.nuri.net 211.115.194.21 123 inethosting(Korea)
time.nist.gov 132.163.4.102 123 NIST(Korea)
time.windows.com 191.233.81.105 123 MS
1.kr.pool.ntp.org 211.233.40.78 123 Navyism(Korea)
1.asia.pool.ntp.org 125.62.193.121 123 Navyism(Korea)
2.asia.pool.ntp.org 82.200.209.236 123 Navyism(Korea)
3.asia.pool.ntp.org 218.189.210.4 123 Navyism(Korea)

(4) If you cannot use a public NTP server, Please setup a local NTP server refer to ‘14.3.3 How to
setup a local NTP server’.

14.3.3 How to Setup a Local NTP Server

If you cannot use a public NTP server, Please setup a local NTP server as follows:

(1) Select the [Start] button of Windows for execution.(Shortcut key /Windows key + R)

(2) Input ‘regedit’ to the execution window and run the process.

(3) Check the below path.

HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\W32Time\TimeProviders\NtpServer

(4) Change the value of ‘Enabled’ to ‘1’ in the folder.

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(5) Check the below path.

HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\W32Time\Config

(6) Change the value of ‘AnnounceFlags’ to ‘5’ in the folder.

(7) Reboot the computer.

(8) Setup inbound firewall rules.

(a) Run the Control Panel.
(b) Run the Window Firewall
(c) When you run the Advanced Settings screen will pop up as shown below.

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(d) Select inbound rules.

(e) Select the new rule in the top right.

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(f) Select the port and click Next button.

(g) Select UDP(U) and Special local port(S). Input ‘123’ and click Next button.

(h) Select Allow connections(A) and click Next button.

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(i) Please select the checkbox to meet your security policy, and click Next button.

(j) Input the server name (anything) and description and click Finish button.

(k) Select the [Start] button of Windows for execution (Shortcut Key /Windowskey + R)

(l) Enter ‘CMD’ and click Confirm. (Administrator)

(m) In the command window, Input ‘net stop w32time’and press Enter key. And then, also input ‘net start w32time’and
press Enter key.

(n) Input ‘ipconfig’ and press Enter key in the command window to find out the IP address of NTP server.

(o) Setting the parameters using IP address of NTP server. (refer to ‘14.3.2 SNTP server parameter setting’)

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14.4 Socket Service

14.4.1 UDP (Receiver) sending/receiving program using socket service
(1) Program procedures
(a) Check the usage status of the socket service channel to be used with the SOCKET_STATUS command.
(b) Socket service channel allocation is performed with the SOCKET_UDPCREATE command.
(c) Receive data with the SOCKET_UDPRECV command.
(d) Send data with the SOCKET_UDPSEND command.
(e) If it fails in steps 3 and 4, the socket channel is returned with the SOCKET_CLOSE command, and it is
executed again.
(2) ST Program – Variable
Variable
Variable Type Description
Type
1 VAR INST_SOCKET_CLOSE SOCKET_CLOSE
2 VAR INST_SOCKET_STATUS SOCKET_STATUS
INST_SOCKET_UDPCREAT
3 VAR SOCKET_UDPCREATE
E

4 VAR INST_SOCKET_UDPRECV SOCKET_UDPRECV

5 VAR INST_SOCKET_UDPSEND SOCKET_UDPSEND

6 VAR SocketServiceCh USINT Socket service channel to use

Program processing
7 VAR Stage UDINT
procedure
Choose whether to start the
8 VAR TestEnable BOOL
test
ARRAY[0..1399] OF memory of transmit/receive
9 VAR UdpBuffer
BYTE data
For setting the frequency of
10 VAR CycleCounter UDINT
program execution

(3) ST Program
IF(TestEnable= TRUE) THEN
CycleCounter := CycleCounter + 1;

IF(CycleCounter > 20)THEN

CycleCounter := 0;

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CASE Stage OF
0: //Check and create socket service channel status to use
SocketServiceCh := 1;
//Specify the socket channel to use
INST_SOCKET_STATUS(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh);

INST_SOCKET_STATUS(
//instance execution
REQ := TRUE,
SOCKCH := SocketServiceCh);

IF(INST_SOCKET_STATUS.DONE = TRUE AND

INST_SOCKET_STATUS.SOCKETTYPE = 0) THEN //For

channels that are performing normally and not in use
INST_SOCKET_UDPCREATE(
//instance execution
REQ := TRUE,
SRCPORT := 8000,
//Set port to 8000
OPENSOCKCH := SocketServiceCh);
//Socket service channel to use

IF(INST_SOCKET_UDPCREATE.DONE = TRUE) THEN

//in normal performance
Stage := 1;
//change Stage 1
END_IF;

INST_SOCKET_UDPCREATE(
//instance reset
REQ := FALSE,
SRCPORT := 8000,
OPENSOCKCH := SocketServiceCh);
END_IF;

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 Chapter14 Local Ethernet Function

1: //data receive
INST_SOCKET_UDPRECV(
//instance execution
REQ := TRUE,

SOCKCH := SocketServiceCh,
//Socket service channel to created
TIMEOUT := 7,
//Receive Standby for up to 7 sec
SIZE := 1400, //specify the maximum
receive size (cannot set more than the buffer size)
RECVDATA := UdpBuffer);
//received data buffer

IF(INST_SOCKET_UDPCREATE.DONE = TRUE) THEN

//in normal performance
Stage := 2;
//change Stage 2
INST_SOCKET_UDPRECV(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh,
TIMEOUT := 7,
SIZE := 1400,
RECVDATA := UdpBuffer);

END_IF;

IF(INST_SOCKET_UDPRECV.ERROR = TRUE)THEN
//When performing abnormal
Stage := 0;
//change Stage 0
INST_SOCKET_CLOSE(
//instance execution
REQ := TRUE,
SOCKCH := SocketServiceCh);
//Socket service channel to close

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 Chapter14 Local Ethernet Function

INST_SOCKET_CLOSE(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh);

INST_SOCKET_UDPRECV(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh,
TIMEOUT :=7,
SIZE := 1400,
RECVDATA := UdpBuffer);

END_IF;
2: //data sending
INST_SOCKET_UDPSEND(
//instance execution
REQ := TRUE,
SOCKCH := SocketServiceCh,
//Socket service channel to created
DSTPORTNO := INST_SOCKET_UDPRECV.FROMPORTNO,
//Received port information
DSTIPADDR := INST_SOCKET_UDPRECV.FROMIPADDR,
//Received IP information
ENDDATA := UdpBuffer,
// Send data buffer
SIZE := INST_SOCKET_UDPRECV.RECVSIZE);
//send data size

IF(INST_SOCKET_UDPSEND.DONE = TRUE) THEN //in

normal performance
Stage := 1;
//change Stage 1
END_IF;

IF(INST_SOCKET_UDPSEND.ERROR = TRUE)THEN
//When performing abnormal

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 Chapter14 Local Ethernet Function

Stage := 0;
//change Stage 0
INST_SOCKET_CLOSE(
//instance execution
REQ := TRUE,

SOCKCH := SocketServiceCh);
//Socket service channel to close

INST_SOCKET_CLOSE(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh);

END_IF;

INST_SOCKET_UDPSEND(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh,
DSTPORTNO := INST_SOCKET_UDPRECV.FROMPORTNO,
DSTIPADDR := INST_SOCKET_UDPRECV.FROMIPADDR,
SENDDATA := UdpBuffer,
SIZE := INST_SOCKET_UDPRECV.RECVSIZE);

END_CASE;
END_IF;
END_IF;

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 Chapter14 Local Ethernet Function

14.4.2 UDP (Sender) sending/receiving program using socket service

(1) Program Procedures

(a) Check the usage status of the socket service channel to be used with the SOCKET_STATUS command.
(b) Socket service channel allocation is performed with the SOCKET_UDPCREATE command.
(c) Send data with the SOCKET_UDPSEND command.
(d) Receive data with the SOCKET_UDPRECV command.
(e) If it fails in steps (c) and (d), the socket channel is returned with the SOCKET_CLOSE command, and it is
executed again.

(2) ST PROGRAM – VARIABLE

Variable
Variable Type Description
Type
1 VAR INST_SOCKET_CLOSE SOCKET_CLOSE
2 VAR INST_SOCKET_STATUS SOCKET_STATUS
INST_SOCKET_UDPCR SOCKET_UDPCREAT
3 VAR
EATE E
INST_SOCKET_UDPRE
4 VAR SOCKET_UDPRECV
CV
INST_SOCKET_UDPSEN
5 VAR SOCKET_UDPSEND
D
Socket service channel to
6 VAR SocketServiceCh USINT
use
Program processing
7 VAR Stage UDINT
procedure
Choose whether to start
8 VAR TestEnable BOOL
the test
ARRAY[0..1399] OF memory of
9 VAR UdpBuffer
BYTE transmit/receive data
For setting the frequency
10 VAR CycleCounter UDINT
of program execution

(3) ST PROGRAM

IF(TestEnable= TRUE) THEN

CycleCounter := CycleCounter + 1;
IF(CycleCounter > 20)THEN
CycleCounter := 0;
CASE Stage OF
0: //Check and create socket service channel status to use
SocketServiceCh := 2;
//Specify the socket channel to use
INST_SOCKET_STATUS( //instance reset
REQ := FALSE,

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 Chapter14 Local Ethernet Function

SOCKCH := SocketServiceCh);

INST_SOCKET_STATUS( //instance
execution
REQ := TRUE,
SOCKCH := SocketServiceCh);

IF(INST_SOCKET_STATUS.DONE = TRUE AND

INST_SOCKET_STATUS.SOCKETTYPE = 0) THEN //For channels

that are performing normally and not in use
INST_SOCKET_UDPCREATE(
//instance execution
REQ := TRUE,
SRCPORT := 8001, //Set
port to 8001
OPENSOCKCH := SocketServiceCh); //Socket service
channel to use

IF(INST_SOCKET_UDPCREATE.DONE = TRUE) THEN //in

normal performance
Stage := 1;
//change Stage 1
END_IF;

INST_SOCKET_UDPCREATE(
//instance reset
REQ := FALSE,
SRCPORT := 8001,
OPENSOCKCH := SocketServiceCh);
END_IF;

1: //data sending
DestIpAddr[0] := 192;
DestIpAddr[1] := 168;
DestIpAddr[2] := 0;
DestIpAddr[3] := 111;
//Initialize the IP value of the receiving side

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 Chapter14 Local Ethernet Function

INST_SOCKET_UDPSEND(
//instance execution
REQ := TRUE,
SOCKCH := SocketServiceCh,
//Socket service channel to created
DSTPORTNO := 8001, //Receiving side
port information
DSTIPADDR := DestIpAddr,
//Receiving side IP information
ENDDATA := UdpBuffer, // send
data buffer
SIZE := 1400); //size of received data

IF(INST_SOCKET_UDPSEND.DONE = TRUE) THEN //in normal

performance
Stage := 2;
//change Stage 2
END_IF;

IF(INST_SOCKET_UDPSEND.ERROR = TRUE)THEN //When

performing abnormal
Stage := 0;
//change Stage 0
INST_SOCKET_CLOSE( //instance
execution
REQ := TRUE,

SOCKCH := SocketServiceCh);
//Socket service channel to close

INST_SOCKET_CLOSE( //instance reset

REQ := FALSE,
SOCKCH := SocketServiceCh);

END_IF;

INST_SOCKET_UDPSEND(
//instance reset

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 Chapter14 Local Ethernet Function

REQ := FALSE,
SOCKCH := SocketServiceCh,
DSTPORTNO := INST_SOCKET_UDPRECV.FROMPORTNO,
DSTIPADDR := INST_SOCKET_UDPRECV.FROMIPADDR,
SENDDATA := UdpBuffer,
SIZE := 1400);

2: //data receive
INST_SOCKET_UDPRECV(
//instance execution
REQ := TRUE,

SOCKCH := SocketServiceCh,
//Socket service channel to created
TIMEOUT := 7,
//Receive Standby for up to 7 sec
SIZE := 1400, //specify the maximum receive size
(cannot set more than the buffer size)
RECVDATA := UdpBuffer);
//received data buffer

IF(INST_SOCKET_UDPCREATE.DONE = TRUE) THEN //in

normal performance
Stage := 1;
//change Stage 1
INST_SOCKET_UDPRECV(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh,
TIMEOUT := 7,
SIZE := 1400,
RECVDATA := UdpBuffer);

END_IF;

IF(INST_SOCKET_UDPRECV.ERROR = TRUE)THEN //When

performing abnormal
Stage := 0;

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 Chapter14 Local Ethernet Function

//change Stage 0
INST_SOCKET_CLOSE( //instance
execution
REQ := TRUE,
SOCKCH := SocketServiceCh);
//Socket service channel to close

INST_SOCKET_CLOSE( //instance reset

REQ := FALSE,
SOCKCH := SocketServiceCh);

INST_SOCKET_UDPRECV(
//instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh,
TIMEOUT :=7,
SIZE := 1400,
RECVDATA := UdpBuffer);

END_IF;

END_CASE;
END_IF;
END_IF;

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 Chapter14 Local Ethernet Function

14.4.3 TCP server sending/receiving program using socket service

(1) Program Procedures

(a) Check the usage status of the server socket service channel to be used with the SOCKET_STATUS
command.
(b) Server Socket service channel allocation is performed with the SOCKET_TCPLISTEN command.
(c) Check the usage status of the peer socket service channel to be used with the SOCKET_STATUS command.
(d) The SOCKET_TCPACCEPT command allows peer connection and performs socket service channel
assignment.
(e) Receive data with the SOCKET_TCPRECV command.
(f) Send data with the SOCKET_TCPSEND command.
(g) If it fails in steps 3, 4, and 5, the socket channel is returned with the SOCKET_CLOSE command, and it is
executed again.
(2) ST PROGRAM – VARIABLE
Variable
Variable Type Description
Type
1 VAR INST_SOCKET_CLOSE SOCKET_CLOSE
2 VAR INST_SOCKET_STATUS SOCKET_STATUS
INST_SOCKET_TCPACC SOCKET_TCPACCEP
3 VAR
EPT T
INST_SOCKET_TCPLIST
4 VAR SOCKET_TCPLISTEN
EN
INST_SOCKET_TCPREC
5 VAR SOCKET_TCPRECV
V
INST_SOCKET_TCPSEN
6 VAR SOCKET_TCPSEND
D
Socket service channel to
7 VAR PeerSocketServiceCh USINT
use(PEER)
Socket service channel to
8 VAR ServerSocketServiceCh USINT
use(SERVER)
Program processing
9 VAR Stage UDINT
procedure
ARRAY[0..1399] OF memory of
10 VAR TcpBuffer
BYTE transmit/receive data
Choose whether to start
11 VAR TestEnable BOOL
the test
For setting the frequency
12 VAR CycleCounter UDINT
of program execution

(3) ST PROGRAM

IF(TestEnable= TRUE) THEN

CycleCounter := CycleCounter + 1;
IF(CycleCounter > 20)THEN
CycleCounter := 0;

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 Chapter14 Local Ethernet Function

CASE Stage OF
0: //specifying and creating a Server Socket Channel
ServerSocketServiceCh := 3; //Specify the
socket channel to use(server)
eerSocketServiceCh := 4;
//Specify the socket channel to use(peer)
INST_SOCKET_STATUS( //instance reset
REQ := FALSE,
SOCKCH := ServerSocketServiceCh);

INST_SOCKET_STATUS( //instance
execution
REQ := TRUE,
SOCKCH := ServerSocketServiceCh);
//Socket service channel to use(server)

IF(INST_SOCKET_STATUS.DONE = TRUE AND

INST_SOCKET_STATUS.SOCKETTYPE = 0) THEN //For channel
that are performing normally and not in use
INST_SOCKET_TCPLISTEN(
//instance execution
REQ := TRUE,
SRCPORT := 8002, //set the
server side port to 8002
PEERCNT := 1, //Set
the maximum connecting peers to 1.
OPENSOCKCH := ServerSocketServiceCh); //Socket service
channel to use(server)

IF(INST_SOCKET_TCPLISTEN.DONE = TRUE) THEN //in

normal performance
Stage := 1;
//change Stage 1
END_IF;

INST_SOCKET_TCPLISTEN(
//instance reset
REQ := FALSE,

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 Chapter14 Local Ethernet Function

SRCPORT := 8002,
PEERCNT := 1,
OPENSOCKCH := ServerSocketServiceCh);

END_IF;

1: //specify peer socket channel and allow access

INST_SOCKET_STATUS( //instance reset
REQ := FALSE,
SOCKCH := PeerSocketServiceCh);

INST_SOCKET_STATUS( //instance
execution
REQ := TRUE,
SOCKCH := PeerSocketServiceCh); //Socket service
channel to use(peer)

IF(INST_SOCKET_STATUS.DONE = TRUE AND

(INST_SOCKET_STATUS.SOCKETTYPE = 0 OR
INST_SOCKET_STATUS.SOCKETTYPE = 1)) THEN //In case of normal
operation and not in use or in case of access waiting channel
INST_SOCKET_TCPACCEPT(
//instance execution
REQ := TRUE,
SERVERSOCKCH := ServerSocketServiceCh, //socket
service channel to created
OPENPEERSOCKCH := PeerSocketServiceCh, //peer socket
service channel to accept
TIMEOUT := 5); //
connection Standby for up to 5 sec

IF(INST_SOCKET_TCPACCEPT.DONE = TRUE) THEN //in

normal performance
Stage := 2;
//change Stage 2
INST_SOCKET_TCPACCEPT(
//instance reset
REQ := FALSE,

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 Chapter14 Local Ethernet Function

SERVERSOCKCH := ServerSocketServiceCh,
OPENPEERSOCKCH := PeerSocketServiceCh,
TIMEOUT := 5);

END_IF;

IF(INST_SOCKET_TCPACCEPT.ERROR = TRUE) THEN //When

performing abnormal
INST_SOCKET_TCPACCEPT(
//instance reset
REQ := FALSE,
SERVERSOCKCH := ServerSocketServiceCh,
OPENPEERSOCKCH := PeerSocketServiceCh,
TIMEOUT := 5);

IF(INST_SOCKET_TCPACCEPT.ERRID <> 4) THEN //If it is not a

timeout error
Stage := 0;
//change Stage 0
INST_SOCKET_CLOSE( //instance
execution
REQ :=TRUE,
SOCKCH := ServerSocketServiceCh);
//close server socket service channel

INST_SOCKET_CLOSE( //instance reset

REQ :=FALSE,
SOCKCH := ServerSocketServiceCh);

END_IF;

END_IF;
END_IF;
2: //data receiving and sending
INST_SOCKET_TCPRECV(
//instance execution
REQ := TRUE,

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 Chapter14 Local Ethernet Function

SOCKCH := PeerSocketServiceCh, //Connection

allowed peer socket service channel
TIMEOUT := 5,
//Receive Standby for up to 5 sec
SIZE := 1400, //specify the maximum receive size
(cannot set more than the buffer size)
RECVDATA := TcpBuffer);
//received data buffer

IF(INST_SOCKET_TCPRECV.DONE = TRUE)THEN //in normal

performance
INST_SOCKET_TCPRECV(
//instance reset
REQ := FALSE,
SOCKCH := PeerSocketServiceCh,
TIMEOUT := 5,
SIZE := 1400,
RECVDATA := TcpBuffer);

INST_SOCKET_TCPSEND(
//instance execution
REQ := TRUE,
SOCKCH := PeerSocketServiceCh, //Connection allowed peer
socket service channel
SENDDATA := TcpBuffer, // send
data buffer
SIZE := INST_SOCKET_TCPRECV.RECVSIZE); //send
size

IF(INST_SOCKET_TCPSEND.ERROR = TRUE)THEN //When

performing abnormal
Stage := 1;
//change Stage 1
INST_SOCKET_CLOSE( //instance
execution
REQ := TRUE,
SOCKCH := PeerSocketServiceCh); //Connection

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 Chapter14 Local Ethernet Function

allowed peer socket service channel

INST_SOCKET_CLOSE( //instance reset

REQ := FALSE,
SOCKCH := PeerSocketServiceCh);

END_IF;

INST_SOCKET_TCPSEND(
//instance reset
REQ := FALSE,
SOCKCH := PeerSocketServiceCh,
SENDDATA := TcpBuffer,
SIZE := INST_SOCKET_TCPRECV.RECVSIZE);

END_IF;

IF(INST_SOCKET_TCPRECV.ERROR = TRUE)THEN //When

performing abnormal
INST_SOCKET_TCPRECV(
//instance reset
REQ := FALSE,
SOCKCH := PeerSocketServiceCh,
TIMEOUT := 5,
SIZE := 1400,
RECVDATA := TcpBuffer);

IF(INST_SOCKET_TCPRECV.ERRID <> 4) THEN //If it is not a

timeout error
Stage := 1;
//change Stage 1
INST_SOCKET_CLOSE( //instance
execution
REQ := TRUE,

SOCKCH := PeerSocketServiceCh); //Connection

allowed peer socket service channel

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 Chapter14 Local Ethernet Function

INST_SOCKET_CLOSE( //instance reset

REQ := FALSE,
SOCKCH := PeerSocketServiceCh);

END_IF;
END_IF;
END_CASE;

END_IF;
END_IF;

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 Chapter14 Local Ethernet Function

14.4.4 TCP client sending/receiving program using socket service

(1) Program Procedures
(a) Check the usage status of the socket service channel to be used with the SOCKET_STATUS command.
(b) Connect to the other side (Server) with the SOCKET_TCPCONNECT command.
(c) Send data with the SOCKET_TCPSEND command.
(d) Receive data with the SOCKET_TCPRECV command.
(e) If it fails in steps 3 and 4, the socket channel is returned with the SOCKET_CLOSE command, and repeat
from step 1

(2) ST PROGRAM – VARIABLE

Variable
Variable Type Description
Type
1 VAR INST_SOCKET_CLOSE SOCKET_CLOSE
2 VAR INST_SOCKET_STATUS SOCKET_STATUS
3 VAR INST_SOCKET_TCPCO SOCKET_TCPCONNE
NNECT CT
4 VAR INST_SOCKET_TCPREC SOCKET_TCPRECV
V
5 VAR INST_SOCKET_TCPSEN SOCKET_TCPSEND
D
6 VAR SocketServiceCh USINT Socket service channel to
use(PEER)
7 VAR Stage UDINT Socket service channel to
use(SERVER)
8 VAR TcpBuffer ARRAY[0..1399] OF Program processing procedure
BYTE
9 VAR TestEnable BOOL memory of transmit/receive data
10 VAR DestIpAddr ARRAY[0..3] OF Choose whether to start the test
USINT
11 VAR CycleCounter UDINT For setting the frequency of
program execution

(3) ST PROGRAM

IF(TestEnable= TRUE) THEN

CycleCounter := CycleCounter + 1;
IF(CycleCounter > 20)THEN
CycleCounter := 0;
CASE Stage OF
0: //Check socket service channel status to use
SocketServiceCh := 5; //Specify the socket
channel to use
INST_SOCKET_STATUS( //instance reset
REQ :=FALSE,

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 Chapter14 Local Ethernet Function

SOCKCH :=SocketServiceCh);

INST_SOCKET_STATUS( //instance execution

REQ :=TRUE,
SOCKCH :=SocketServiceCh);

IF(INST_SOCKET_STATUS.DONE = TRUE AND

INST_SOCKET_STATUS.SOCKETTYPE = 0) THEN //For channel that are performing
normally and not in use
Stage := 1;

END_IF;

1: //try to connection
DestIpAddr[0] := 192;
DestIpAddr[1] := 168;
DestIpAddr[2] := 0;
DestIpAddr[3] := 111; //Initialize the IP value of
the connection
INST_SOCKET_TCPCONNECT( //instance execution
REQ := TRUE,
SRCPORT := 8003, //Set port to 8003
TIMEOUT := 5, // connection for up to 5
sec
DSTIPADDR := DestIpAddr, // connection IP
information
DSTPORT := 8003, //connection station Port
information
OPENSOCKCH := SocketServiceCh); //Socket service channel to use

IF(INST_SOCKET_TCPCONNECT.DONE = TRUE) THEN //in normal performance

Stage := 2; //change Stage 2
INST_SOCKET_TCPCONNECT( //instance reset
REQ := FALSE,
SRCPORT := 8003,
TIMEOUT := 5,
DSTIPADDR := DestIpAddr,
DSTPORT := 7000,

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 Chapter14 Local Ethernet Function

OPENSOCKCH := SocketServiceCh);

END_IF;

IF(INST_SOCKET_TCPCONNECT.ERROR = TRUE) THEN //When performing abnormal

Stage := 0; //change Stage 0

INST_SOCKET_TCPCONNECT( //instance reset
REQ := FALSE,
SRCPORT := 8003,
TIMEOUT := 5,
DSTIPADDR := DestIpAddr,
DSTPORT := 8003,
OPENSOCKCH := SocketServiceCh);

END_IF;

2: //data sending
INST_SOCKET_TCPSEND( //instance execution
REQ := TRUE,
SOCKCH := SocketServiceCh, //Connection confirmed
socket service channel
SENDDATA := TcpBuffer, // send data buffer
SIZE := 1400); //sending data size

IF(INST_SOCKET_TCPSEND.DONE = TRUE) THEN //in normal performance

Stage := 3; //change Stage 3
INST_SOCKET_TCPSEND( //instance reset
REQ := FALSE,
SOCKCH := SocketServiceCh,
SENDDATA := TcpBuffer,
SIZE := 1400);

END_IF;

IF(INST_SOCKET_TCPSEND.ERROR = TRUE)THEN //When performing

abnormal
Stage := 0; //change Stage 0

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 Chapter14 Local Ethernet Function

INST_SOCKET_TCPSEND( //instance reset

REQ := FALSE,
SOCKCH := SocketServiceCh,
SENDDATA := TcpBuffer,
SIZE := 1400);

INST_SOCKET_CLOSE( //instance execution

REQ := TRUE,
SOCKCH := SocketServiceCh); //Socket service channel
to close

INST_SOCKET_CLOSE(
REQ := FALSE,
SOCKCH := SocketServiceCh); //instance reset

END_IF;

3: //data receive
INST_SOCKET_TCPRECV( //instance execution
REQ := TRUE,
SOCKCH := SocketServiceCh, //Connection confirmed
socket service channel
TIMEOUT := 3, //Receive Standby for
up to 3 sec
SIZE := 1400, //specify the maximum
receive size (cannot set more than the buffer size)
RECVDATA := TcpBuffer); //received data buffer

IF(INST_SOCKET_TCPRECV.DONE = TRUE)THEN //in normal performance

Stage := 2; //change Stage 2
INST_SOCKET_TCPRECV( //instance reset
REQ :=FALSE,
SOCKCH := SocketServiceCh,
TIMEOUT := 3,
SIZE := 1400,
RECVDATA := TcpBuffer);

END_IF;

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 Chapter14 Local Ethernet Function

IF(INST_SOCKET_TCPRECV.ERROR = TRUE)THEN //When performing

abnormal
Stage := 0; //change Stage 0
INST_SOCKET_TCPRECV(
REQ := FALSE,
SOCKCH := SocketServiceCh,
TIMEOUT := 3,
SIZE := 1400,
RECVDATA := TcpBuffer);

INST_SOCKET_CLOSE( //instance execution

REQ := TRUE,
SOCKCH := SocketServiceCh); //Socket service channel
to close

INST_SOCKET_CLOSE( //instance reset

REQ := FALSE,
SOCKCH := SocketServiceCh);

END_IF;

END_CASE;
END_IF;
END_IF;

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 Chapter14 Local Ethernet Function

14.4.5 Command operation timing chart

(1) Start command operation with Rising Edge of Execute, initialize ErrorID
(2) Done occurs when normal operation is completed after the command operation (Busy) state, Output Parameter
is valid (updated)
(3) When Execute Falling, Done Flag Reset.
(4) In case of command operation (Busy) state, even if Execute falls, the previous operation is continued
(5) Done occurs after completion of command operation (Busy), and if Execute status is 0, Done is maintained
during one call
(6) Even if Rising Edge of Execute occurs during command operation (Busy), the previous operation is continued
(7) Start command operation with Rising Edge of Execute, initialize ErrorID
(8) Error occurs when abnormal operation is completed after command operation (Busy) status, ErrorID update
(9) Execute Falling 시 Error Flag Reset
(10)Done occurs after completion of command operation (Busy), and if Execute status is 0, Error is maintained
during one call
※ Follows PLC Open FB operation standard

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 Chapter14 Local Ethernet Function

14.4.6 SOCKET SERVICE Common Error

ID Error name Contents Note
0 No Error Normal status
Command input parameter
1 INVALID_PARAMETER Normal range parameter input
error
SYSTEM_RESERVED_P Attempt to use the system
2 Change Local Port input value
ORT reserved port
Attempt to assign channels Use after checking the usage status of the service
3 ALREADY_USED_CH
already in use channel
 Checking the destination side status
 SOCKET_TCPRECV, SOCKET_UDPRECV
 Check whether the destination side data is
sending
 Check whether the destination side is
connected
4 WAIT_TIMEOUT Command timeout occurrence
 SOCKET_TCPCONNECT
 Check the destination side (server)
access-allowed standby status
 SOCKET_TCPACCEPT
Check the status of the destination side (client)
connection attempt
COMMAND_INSTANCE_ Exceeded command instance
5 Decrease the frequency of command execution
POOL_FULL usage
 Use after initializing the service channel
according to the purpose
SOCKET_CH_NOT_INITI Control attempts through  UDP: SOCKET_UDPCREATE
7
ALIZE uninitialized channels  TCP(server): SOCKET_TCPLISTEN &
SOCKET_TCPACCEPT
TCP(client): SOCKET_TCPCONNECT
9 SOCKET_NO_DATA There is no received data
 Command operation retry through exception
SOCKET_SERVICE_PR Common errors that occur handling
10
OCEDURE during service processing  Review input values
System check
Attempts to process a Action to prevent SOCKET_CLOSE from operating
command on a socket that has for the service channel while
11 SOCKET_CLOSED already been closed, or a SOCKET_TCPACCEPT,
connection that has been SOCKET_TCPCONNECT, SOCKET_TCPRECV,
aborted by the peer. SOCKET_UDPRECV is in operation.
 When a local port is specified, if the system
internal initialization for the port is in progress,
the error may persist for up to 60 seconds, and
INVALID_ADDRESS_OR Input IP, PORT value the command operation is retried through
12
_PORT abnormal, unavailable status exception handling.
 Check whether a port that is already in use is
specified
Local Port normal input value, check the range
CONNECTION_TIMEDO
13 Connection time out occurred Check remote side status
UT
 Check Local device status
14 NETWORK_UNREACH Network connection disable Check settings such as gateway, subnet mask, and
route table
 Check Local device status
15 HOST_DOWN Host device error Check for abnormalities in cables and connection
paths , check H/W

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 Chapter14 Local Ethernet Function

 Check Local device status

16 HOST_UNREACH Host connection disable Check for abnormalities in cables and connection
paths , check H/W
Reconnection of an already Retry after SOCKET_CLOSE of the corresponding
17 ALREADY_CONNECTED
established socket socket service channel
CONNECTION_REFUSE
18 Connection denied Check connection denied status of remote side
D
CONNECTION_ABORTE
19 Aborted while connecting Abort remote side connection during connection
D

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Chapter14 Local Ethernet Function

14-58
 Chapter15 Built-in Cnet Communication

Chapter 15 Built-in Cnet Communications

15.1 Overview
Cnet with built-in motion controllers is a serial communication device that supports RS-232C and RS-485 protocols and has
the following characteristics.

15.1.1 Characteristics
Cnet I/F is a serial communication device supporting RS-232C and RS-485 protocols and has the following characteristics.

1) It offers a user-friendly experience and is easy to connect with the products of other companies.

2) Using the XG5000 that operates in the Windows environment, a user can directly write communication speed

and communication mode (protocol), and it is easy to connect with the products of other companies.

3) It provides the CnetI/F of RS-232C 1 port/ RS-485.

4) Read/write variable is possible using a dedicated protocol.

5) It provides a dedicated communication function for multi-drop configuration that con connect up to 32 units when

RS-485 is used.

6) Various communication speed settings are possible.

- RS-232C: 1200bps ~ 115,200bps / RS-485: 1200bps ~ 115,200bps available

7) 1:1/1: N communication is possible.

8) It supports full-duplex (RS-232C) and half-duplex (RS-485) communication methods.

9) It provides dedicated communication (user defined communication and XGT client/server communication),

and Modbus client/server functions.

10) It provides a client mode (LS bus) for communication dedicated for LS Industrial Systems Inverter.

11) Smart server automatically recognizes the protocol (LS ELECTRIC dedicated protocol, Modbus RTU/ ASCII) and works.

12) It provides a repeater mode to convert RS-232C into RS-485 or uses it as an isolated repeater.

13) It has a built-in termination resistor, and thus termination can be set in the default parameter, when the termination resistance

is needed.

Notice
The serial communication function is supported only for communication type products. (XMC-E32C)

15-1
 Chapter15 Built-in Cnet Communication

15.2 Confirm before product check

To use the serial communication of the stand-alone motion controller, you need to prepare some things in advance.
Please check below for the correct use of the product.

15.2.1 Advance Preparation

(1) Please download the XG5000 from LS Industrial Systems website below.
Internet web address: http://www.ls-electric.com/

(2) Please download the XG5000 from LS Industrial Systems website below.
The model name of the cable is as follows.

 USB: USB-301A,  RS-232C: K1C-050A

15.2.2 Install the XG5000

XG5000 is dedicated software for setting of basic parameter, writing of frame and diagnosis of all communication module
including the Cnet I/F module. The following figure is initial screen of XG5000.

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15.2.3 Check the product version

Before using the Cnet module, check the version of module.

1) Check through XG5000

Here describes on how to read communication module information by online connection to communication module.
If interface with CPU is normal, it is available to get the following information.
(a) Execute the XG5000
(b) Connect with XMC through online connection.
(c) If connection with XMC is established, execute the system diagnosis.
Execute the Communication module information in the system diagnosis screen.
Software information shows at the right bottom of screen.

(d) When click the XML-CH2A module for which you want to check the stand-alone motion controller product information,
[Serial Communication Module Information] screen appears.
(e) Check the product version at the bottom right of this screen..

2) Check version written on the case label of the product

Each communication module has the product information label on the case. If online check is not possible, see the label on
the case after removing it from base. Label is in the back of the case and type name of product and version information is
indicated.

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15.3 Specifications
15.3.1 Performance Specifications
Specifications
Item
Channel 1 Channel 2
Serial communication
RS-232C RS-485
method
Modem connection function - -
Operates as a communication client
- XGT dedicated protocol client
Operation P2P - Modbus ASCII/RTU client
mode(define - User defined communication
operation for - LS bus client Note 1)
each channel)
- XGT dedicated protocol server
Server
- Modbus ASCII/RTU server

Data bit 7 or 8
Data
Stop bit 1 or 2
type
Parity Even/Odd/None
Synchronous method Asynchronous method

Transmission speed(bps) 1,200/2,400/4,800/9,600/19,200/38,400/57,600/115,200 bps can be selected

Setting range: 0~255Note 2)

Station No. setting
Maximum number of stations: 32
Transmission distance Max. 15m Max. 1200m
- Check operation according to LED status.
Diagnosis function - XG5000 Diagnosis Service: Frame monitor, service status, loopback test,
PLC history.

Notice

Note 1) It means a dedicated protocol with LS Inverter.

Note 2) In the client/server configuration, up to 32 stations can be set, and the station number setting ranges from 0 to 255.

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15.3.2 Names and Roles of Built-in Cnet Components

Num
Name Contents
ber
RS-232C data LED
TX LED
① ON/OFF: Transmitting/receiving communication data
RX LED
OFF: Standby for communication

RS-232C error LED

② ERR LED ON/OFF: Communication error
OFF: No communication error

RS-485 data LED

TX LED
③ ON/OFF: Transmitting/receiving communication data
RX LED
OFF: Standby for communication

RS-485 error LED

④ ERR LED ON/OFF: Communication error
OFF: No communication error

Termination resistor LED

⑤ TER LED ON: Termination resistor ON
OFF: Termination resistor OFF

RS-232C communication
⑥ Connector for connecting RS-232C communication signals
connector

RS-485 communication
⑦ Connector for connecting RS-485 communication signals
connector

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15.3.3 Cable Specifications

When communication is done using the RS-485 channel, a twisted pair cable for RS-422 should be used for excellent
signal transmission and control characteristics.
The following shows the recommended cable specifications.

• Item name: Low-capacity LAN interface cable

• Model name: LIREV-AMESB
• Specification: 2P X 22AWG (D/0.254 TA)
• Manufacturer: LS Industrial Systems

Test item Unit Characteristics Test conditions

Conductor resistance Ω/km 59 Room temp.
Withstanding voltage(DC) V/1min Withstands for 1 min. at 500V In air
Electric
Insulation resistance MΩ-km 1,000 room temp
characteristics
Static electricity capacity pF/M 45 or less 1kHz
Characteristics
Ω 120 ± 12 10MHz
impedance

Item Single Cable

Cores Pair 2
Size AWG 22
Characteristics of Conductor
Composition NO./mm 1/0.643
appearance.
Outer dia. mm 0.643
Thickness mm 0.59
Insulator
Outer dia. mm 1.94
Standard of Twisted Pair Cable

Conductor

Insulator

AL/MYLER TAPE

Ground line

Braided

Sheath

Structure

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15.3.4 Termination Resistor

When communication is done via the RS-485 channel with built-in motion controller, a termination resistor should be
connected from the outside.

The termination resistor is used to prevent signal distortion due to the reflected wave of the cable when use for long
distance communication, the resistance (120Ω, 1/2W) equal to the characteristic impedance value of the cable should be
connected to the end of the network.

When using the recommended cable, connect the termination resistor to both ends of the line.
Even when using cables other than the recommended cable, connect a resistor with the same value as the characteristic
impedance value to both ends of the line.

Recommended termination resistance: 1/2W, 120Ω, 5% error

1) Enabling fundamental parameter termination resistor

2) Disabling fundamental parameter termination resistor

[Termination reistor connection diagram in the RS-485 interface ]

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15.4 Perfomance Specifications

15.4.1 Operation Mode Setting
The operation mode of Cnet is decided by the standard setting parameters. It operates separately from each communication
port with the operation modes available as described below.

1) Server Mode
Operates as a server in the network. XGT server and Modbus server are optional.

(1) XGT server: dedicated communication protocol supported, memory Read, Write available.
(2) Modbus server: Modbus protocol supported, RTU/ASCII type optional.
(3) Setting necessary for conversion between Modbus protocol memory area and XGT memory area.
(4) Smart server: Smart server automatically analyzes the protocol (XGT, Modbus ASCII/RTU) automatically and operates as
analyzed server.

2) P2P (Client) Mode

(1) Operates as a client in the network.
(2) Support dedicated communication protocol, Modbus protocol and LS inverter dedicated communication (LS BUS client).
(3) Up to 64 communication blocks can be specified for 1 Cnet module to define the independent operation.

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15.4.2 Operation by Channel

Each communication port operates independently to allow simultaneous TX, RX in separate transmission specifications. Therefore,
transmission specifications can be set per RS-232C and RS-485 channel, and the operation is started and stopped according to
channels. Data flow of each channel is as below.

RS-232C channel
RS-232C cable
TX

RX

PLC CPU
RS-422 channel
RS-422 cable
TX

RX

Notes

[Note 1] While in operation, mode change is not available. In order to change the mode, download the standard
communication parameters and reset the communication module.
[Note 2] Although do not Reset the PLC separately, the changed mode will be applied when the download is
completed.

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15.4.3 Channel Operation in Repeater Mode

1) Repeater Mode
Repeater mode is a function that transmits data received from each channel to another channel.

(1) Repeater mode of Cnet is not offers Auto Speed

(2) Communication setting is equal to each channels and modem type is fixed to null modem.
(3) While in operation, mode change is not available. If you want to change the mode, download the standard communication
parameter and RESET the module.

15.4.4 Serial Connection Methods

1) Connection method when using built-in RS-232C
Three-wire system is used for connection, as shown below.
Cnet Computer/communication device
Pin Pin number and signal direction
Name Name
number
1 TX TXD
2 RX RXD
3 SG SG

2) Connection method when using built-in RS-485

Pin External communication

Name Pin number and signal direction
number device
1 TRX+ 485+
2 TRX- 485-
3 COM COM

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15.5 Installation and operation

15.5.1 Parameter information for communication mode
Communication functions available in Cnet with built-in motion controller can be classified into several types, as shown below.

1) Default setting parameters

This is the part that sets the media information, hardware information and basic protocol information
of serial communication of Standalone Motion Controller
Paramet Sub- Possibility of settings
Setting item Setting range Notice
er menu Client Server
RS-232C
Communication type Possible Possible -
RS-485
Communication
1200 ~ 115,200 Possible Possible -
speed(bps)
Connec
Termination
tion Enabled/Disabled Possible Possible
resistance
settings
XGT
Station number is not
communication:
Station number Possible Possible significant when
Default 0~255
setting client
settings Modbus: 0~255
P2P used Possible - -
XGT server - Possible -
One mode is
Modbus ASCII server - Possible -
Operati selectable
Modbus RTU server - Possible -
on
Smart server - Possible
mode
All services are
Repeater mode Enabled/Disabled - - stopped when
repeater mode is set
In Modbus ASCII, the
Data bit 7, 8 Possible Possible number of data bits is
7.
Connec
Stop bit 1, 2 Possible Possible *Note 5)
tion
Parity bit NONE,ODD,EVEN Possible Possible -
settings
Parity reception error Allowed/ Not
Advance *Note 4) Possible Possible -
allowed
d settings
Modem type Null modem Possible Possible -
Response waiting *Note 1)
0~50 (x 100ms) Possible -
time
Time
Delay time 0~255 (x 10ms) Possible Possible *Note 2)
settings
Inter-character waiting
0~255 (x 10ms) Possible Possible *Note 3)
time

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Notice
1) Response waiting time: It means the waiting time until the reception of response frame after the completion of
frame transmission.
(1) Operation setting: It can e set when P2P is used in operation mode.
(2) Response waiting time = Basic response waiting time + (response waiting time set value x 100ms) + inter-
character waiting time
(3) Basic response waiting time by communication speed
1) 9,600~115,200bps: 100ms
2) 7,200~2,400bps: 200ms
3) 1,800~1,200bps: 400ms

2) Delay time setting: It means transmitting a frame after the delay time set by a user.
(1) Client operation setting: Client operation can be set when communication type is RS-485.
(2) Server operation setting: It is possible to transmit a frame after the delay time for the response of the server to
be set.

3) Inter-character waiting time: It means the spacing between characters in one frame processed as one frame in
case of a character that comes in the set time in one frame.
(1) Operation setting: It can be set regardless of operation mode.

4) Parity reception error: When [Accept] is selected, data can be received even if there is an error in the reception
parity bit.

5) Stop bit: It means the end of a single packet and checks the stop bit set at the time of data transmission. If the
stop bit of the received data is smaller than the set stop bit, data cannot be received normally. In
order to receive data normally, the stop bit should be configured identically.
(1) When stop bit is set to 1, all frames can be received.
(2) Normal communication may not be possible in communication with equipment where stop bit is set to 2.
(3) When stop bit is set to 2, data of stop bit 1 cannot be received.
(4) The parameters should be set the same for normal communication.

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2) P2P setting parameters

This is to set communication frames.

Possibility of settings(client)
Sub- Inverter
Parameter Setting item Setting range and contents Modbus Modbus Dedicated User frame
menu XGT
ASCII RTU communic definition
ation
Communi Base 0~7 Possible Possible Possible Possible Possible
cation Possible
module Slot 0~11 Possible Possible Possible Possible
settings
User frame definition - - - - Possible
XGT client Possible - - - -
Modbus ASCII -
P2P - Possible - -
P2P deriver Client
channel
Modbus RTU -
- - Possible -
Client
LS Bus client*Note 5) - - - Possible -
Channel 1, 2 Possible Possible Possible Possible Possible
READ Possible Possible Possible Possible -
WRITE Possible Possible Possible Possible -
P2P function
SEND - - - - Possible
RECEIVE - - - - Possible
Start Possible
Possible Possible Possible Possible
condition*Note 1)
Individual Possible Possible Possible - -
Method
Continuous Possible Possible Possible Possible -
Bit Possible Possible Possible - -
P2P
Word Possible Possible Possible Possible -
P2P block
1 bye Possible - - - -
Data type -
2 bytes Possible - - -
4 bytes Possible - - - -
8 bytes Possible - - - -
Number of -
Possible Possible Possible -
variables*Note 2)
Data size*Note 2) Possible Possible Possible Possible -
Partner station Possible
Possible Possible Possible -
number
Frame - - - - Possible
Settings*Note 3) Possible Possible Possible Possible Possible
User Group name - - - -
frame Add group Transmission - - - - Possible
Frame type
definition Reception - - - - Possible
Edit group Group name - - - - Possible
Delete group - - - - Possible
Frame*No
te 4 HEAD - - - - Possible
Add frame TAIL - - - - Possible
BODY - - - - Possible

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Notice
1) Start condition in user-defined frame communication is selectable only when the P2P function is SEND.
2) The number of variables and data size can be set only in the case of continuous mode in XGT client and Modbus
ASCII/RTU client.
3) Settings in user-defined frame communication can be established only when the fixed size parameter or variable size
parameter is selected.
4) Frame settings can be entered after the frame type and group name of the user frame definition are set.
5) LS Bus client is a function provided by the B type Cnet I/F module.

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15.5.2 Device Information

1) Default settings
Statio
Commu Inter-
Communica Data Stop n Response
nication Parity bit Modem type Delay time character
tion speed bit bit numb waiting time
type waiting time
er
RS- 1200 NONE~
7~8 1~2 Null modem 0~255 0~50 0~255 0~255
232C ~115,200 ODD
1200 NONE~
RS-485 7~8 1~2 Null modem 0~255 0~50 0~255 0~255
~115,200 ODD

2) Modbus settings
Modbus
Channel Settings Item XMC-E32Cdefault
Used/unused
P2P used Disable - -
XGT server Disable - -
Bit Read Area Start Address: %IX0.0.0
Modbus Bit write Area start Address: %QX0.0.0
Enable
ASCII server Word Read Area Start Address: %MW0
Channel 1
Word Write Area Start Address: %MW100
Bit Read Area Start Address: %IX0.0.0
Modbus Bit Write Area Start Address: %QX0.0.0
Enable
RTU server Word Read Area Start Address: %MW0
Word Write Area Start Address: %MW100
P2P used Disable - -
XGT server Disable - -
Bit Read Area Start Address: %IX0.0.0
Modbus Bit Write Area Start Address: %QX0.0.0
Enable
ASCII server Word Read Area Start Address: %MW0
Channel 2
Word Write Area Start Address: %MW100
Bit Read Address Start Address: %IX0.0.0
Modbus Bit Write Area Start Address: %QX0.0.0
Enable
RTU server Word Read Area Start Address: %MW0
Word Write Area Start Address: %MW100

3) P2P channel settings

Client/
Operation mode P2P deriver TCP/UDP Partner station port Destination port IP address
Server
XGT server - - - - -
XGT client - - - -
User frame definition - - - -
LS Bus client
P2P used - - - -
(CH2: RS-485)
Modbus ASCII client
Modbus RTU client - - - -

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4) P2P block settings

Partner
Opera
P2P P2P Condition Command Data Number of station
tion Data size Read area Storage area Address
server function flag type type variables numbe
mode
r
XGT
- - - - - - - - - - -
server
Individual BIT 1~4
Disable
Individual B/W/D/L 1~4 (blank)
Read
B/W/D/L Disable
Continuous 1 ~ 120
XGT (XGI) (1) XGT
client Individual BIT 1~4 device
Disable
B/W/D/L (blank)
Individual 1~4
Write (XGI)
XGT
B/W/D/L device
Continuous 1 ~ 120
(XGI)
00000 ~
Individual BIT
Disable 19999
(blank) 30000 ~
Individual WORD
49999
Read
00000 ~
Continuous BIT 1 ~ 976
Modbus 19999
ASCII 30000 ~
Continuous WORD 1 ~ 61
client 49999
XGT
Individual BIT Disable 00000 ~ 09999
device
Individual WORD (blank) 0~63 40000 ~ 49999
XGT
Write N device
P2P Continuous BIT 1~944 device 00000 ~ 09999
Disable(1) calculation
used Continuous WORD 1~59 40000 ~ 49999 method
00000 ~
Individual BIT
Disable 19999
(blank) 30000 ~
Individual WORD
49999 XGT
Read
00000 ~ device
Continuous BIT 1 ~ 2000
Modbus 19999
RTU 30000 ~
Continuous WORD 1 ~ 125
client 49999
Individual BIT Disable 00000 ~ 09999
Individual WORD (blank) XGT 40000 ~ 49999
Write
Continuous BIT 1~1968 device 00000 ~ 09999
Continuous WORD 1~123 40000 ~ 49999
XGT device
Transmitting
User SEND - - 1 ~ 1024 variable size -
body
frame parameter
definition RECEIV Receiving Memory
E
- - - - -
body specification
Inverter
Read XGT device
LS Bus XGT address value
Continuous WORD 1 1~8 0~255
client device Inverter
Write XGT device
address value

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1) User definition frame

Group Frame Segment Remarks
Max. 10Byte
Numerical constant
12345678901234567890
HEAD
1234567890
String constant
(Internally registered as 3132..30)
Max. 10Byte
Numerical constant
12345678901234567890
TAIL 1234567890
Transmission 1 String constant
(Internally registered as 3132..30)
BCC -
Max. 10Byte
Numerical constant
12345678901234567890
BODY 1234567890
String constant
(Internally registered as 3132..30)
Variable size parameter Up to 4 available
Max. 10Byte
Numerical constant
12345678901234567890
HEAD
1234567890
String constant
(Internally registered as 3132..30)
Max. 10Byte
Numerical constant
12345678901234567890
TAIL 1234567890
String constant
(Internally registered as 3132..30)
Reception 1
BCC -
Max. 10Byte
Numerical constant
12345678901234567890
1234567890
String constant
BODY (Internally registered as 3132..30)
Fixed size parameter Up to 4 available
Only one variable size parameter can be set.
Variable size parameter
Therefore, segment cannot be added to the variable size parameter.
No restrictions on the number of groups, frames and
segments, except for size(0x4B00)

15.5.3 Device Area Information

Area Range Size(Word) Remarks
M MW0 – MW1048575 1048576 Read/Write/Monitor available
K KW0 – KW9215 9216 Read/Monitor available
F FW0 – FW65535 65536 Read/Monitor available
L LW0 – LW11263 11264 Read/Write/Monitor available
U UW0.0.0– UW0.15.31 512 Read/Write/Monitor available
I IW0.0.0 –IW127.15.3 8192 Read/Write/Monitor available
Q QW0.0.0– QW127.15.3 8192 Read/Write/Monitor available

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15.6 Cnet Communication System Configuration

If you use Cnet of motion controller, you can configure various types of communication networks by connecting with PLC and
PC of its company and other companies. Below are some examples of network system configurations.

1:1 Connection to PC (HMI) (No Modem)

(1) The basic units of PC (HMI) and motion controller are connected by RS-232C or RS-485 channel, and PC (HMI)
and PLC are connected 1:1 without model in this system.
(2) Most HMI(PC) operate as client stations, and XMC basic units act as server stations which respond to requests from
HMI(PC).
(3) Since there is no model, communication distance is up to 15m when it is through RS-232C channel
and up to 1500m when it is through RS-485.

1) 1:1 connection with general-purpose PC

• Wiring method

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2) 1:1 connection with monitoring devices such as XGT Panel

• Wiring method (RS-232C)

Note) In the case of PMU, 4 and 6, and 7 and 8 should be short-circuited for use.

• Wiring method (RS-485)

Connection number and signal
PMU side XMC RS-485 terminal
direction
485+ TRX+
485- TRX-

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3) 1:1 Connection to XMC Basic Unit

• Wiring method

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4) HMI (PC), Dedicated Communication and RS-485 Communication

- Communication using HMI (PC) and RS-232C channel

- HMI (PC) operates as a client station, and Cnet I/F acts as a server station,
when the module settings operate with RS-232C XGT server.
- RS-485 channel operates in P2P mode.
- GSL-TR4A (32 points of Smart I/O transistor output for Modbus) data transmission via RS-485 channel
- Reading data transmitted to GSL-TR4A in HMI (PC)

Module settings
Type
RS-232C RS-485 Station number
PLC Cnet #1 station XGT server P2P 1

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15.7 Communication parameter

15.7.1 Summary
Communication parameters can be divided into basic setting parameters and P2P setting parameters as shown below.

1) Default setting parameters

This is the part that sets the media information, hardware information and basic protocol information of
serial communication of Standalone Motion Controller
Paramet Sub- Possibility of settings
Setting item Setting range Notice
er menu Client Server
RS-232C
Communication type Possible Possible -
RS-485
Communication
1200 ~ 115,200 Possible Possible -
speed(bps)
Connec
Termination
tion Enabled/Disabled Possible Possible
resistance
settings
XGT
Station number is not
communication:
Station number Possible Possible significant when
Default 0~255
setting client
settings Modbus: 0~255
P2P used Possible - -
XGT server - Possible -
One mode is
Modbus ASCII server - Possible -
Operati selectable
Modbus RTU server - Possible -
on
mode Smart server - Possible
All services are
Repeater mode Enabled/Disabled - - stopped when
repeater mode is set
In Modbus ASCII, the
Data bit 7, 8 Possible Possible number of data bits is
7.
Connec
Stop bit 1, 2 Possible Possible *Note 5)
tion
Parity bit NONE,ODD,EVEN Possible Possible -
settings
Parity reception error Allowed/ Not
Advance *Note 4) Possible Possible -
allowed
d settings
Modem type Null modem Possible Possible -
Response waiting *Note 1)
0~50 (x 100ms) Possible -
time
Time
Delay time 0~255 (x 10ms) Possible Possible *Note 2)
settings
Inter-character waiting
0~255 (x 10ms) Possible Possible *Note 3)
time

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Notice
1) Response waiting time: It means the waiting time until the reception of response frame after the completion of
frame transmission.
(1) Operation setting: It can e set when P2P is used in operation mode.
(2) Response waiting time = Basic response waiting time + (response waiting time set value x 100ms) + inter-
character waiting time
(3) Basic response waiting time by communication speed
1) 9,600~115,200bps: 100ms
2) 7,200~2,400bps: 200ms
3) 1,800~1,200bps: 400ms

2) Delay time setting: It means transmitting a frame after the delay time set by a user.
(1) Client operation setting: Client operation can be set when communication type is RS-485.
(2) Server operation setting: It is possible to transmit a frame after the delay time for the response of the server to
be set.

3) Inter-character waiting time: It means the spacing between characters in one frame processed as one frame in
case of a character that comes in the set time in one frame.
(1) Operation setting: It can be set regardless of operation mode.

4) Parity reception error: When [Accept] is selected, data can be received even if there is an error in the reception
parity bit.

5) Stop bit: It means the end of a single packet and checks the stop bit set at the time of data transmission. If the
stop bit of the received data is smaller than the set stop bit, data cannot be received normally. In
order to receive data normally, the stop bit should be configured identically.
(1) When stop bit is set to 1, all frames can be received.
(2) Normal communication may not be possible in communication with equipment where stop bit is set to 2.
(3) When stop bit is set to 2, data of stop bit 1 cannot be received.
(4) The parameters should be set the same for normal communication.

(1) P2P service

(a) This service allows the Cnet I/F module to act as a client on the network.
(b) It can read or write the memory of the other station when a predetermined event occurs.
(it can operate as XGT client or Modbus client.)
(c) This is used in communication with the equipment of other companies that does not support XGT or Modbus protocol
or in transmission/reception of a frame desired by a user.
(d) It can define up to 64 independent P2P blocks per channel.

(2) Dedicated service(XGT server, Modbus ASCII server, Modbus RTU server)
(a) This service allows PC and peripheral devices to read and write information and data without the creation of a separate
program in the PLC.
(b) It can operate as XGT server that support the XGT protocol and Modbus server that supports the Modbus RTU/ASCII
protocol.

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2) P2P setting parameters

This is to set communication frames.

Possibility of settings(client)
Sub- Inverter
Parameter Setting item Setting range and contents Modbus Modbus Dedicated User frame
menu XGT
ASCII RTU communic definition
ation
Communi Base 0~7 Possible Possible Possible Possible Possible
cation Possible
module Slot 0~11 Possible Possible Possible Possible
settings
User frame definition - - - - Possible
XGT client Possible - - - -
Modbus ASCII -
P2P - Possible - -
P2P deriver Client
channel
Modbus RTU -
- - Possible -
Client
LS Bus client*Note 5) - - - Possible -
Channel 1, 2 Possible Possible Possible Possible Possible
READ Possible Possible Possible Possible -
WRITE Possible Possible Possible Possible -
P2P function
SEND - - - - Possible
RECEIVE - - - - Possible
Start Possible
Possible Possible Possible Possible
condition*Note 1)
Individual Possible Possible Possible - -
Method
Continuous Possible Possible Possible Possible -
Bit Possible Possible Possible - -
P2P
Word Possible Possible Possible Possible -
P2P block
1 bye Possible - - - -
Data type -
2 bytes Possible - - -
4 bytes Possible - - - -
8 bytes Possible - - - -
Number of -
Possible Possible Possible -
variables*Note 2)
Data size*Note 2) Possible Possible Possible Possible -
Partner station Possible
Possible Possible Possible -
number
Frame - - - - Possible
Settings*Note 3) Possible Possible Possible Possible Possible
User Group name - - - -
frame Add group Transmission - - - - Possible
Frame type
definition Reception - - - - Possible
Edit group Group name - - - - Possible
Delete group - - - - Possible
Frame*No
te 4 HEAD - - - - Possible
Add frame TAIL - - - - Possible
BODY - - - - Possible

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Notice
1) Start condition in user-defined frame communication is selectable only when the P2P function is SEND.
2) The number of variables and data size can be set only in the case of continuous mode in XGT client and Modbus
ASCII/RTU client.
3) Settings in user-defined frame communication can be established only when the fixed size parameter or variable
size parameter is selected.
4) Frame settings can be entered after the frame type and group name of the user frame definition are set.
5) LS Bus client is a function provided by the B type Cnet I/F module.

3) Transmission Standard
In order to use the Cnet I/F module, set the transmission standard like baud rate, data/stop bit. The basic setting item
of Cnet I/F module should be same with transmission standard of system. The written basic setting values are saved
in the XMC, those are kept regardless of power off until rewriting the values.

(1) Communication type

Check the Cnet I/F module and set the parameter about each channel accurately. If communication type set by
parameter is different with channel type of mounted communication module, normal communication is
impossible because CPU recognizes the channel type of mounted communication module.

(2) Parity bit

The Cnet I/F module defines three parity bit. Each parity bit has the following meaning like
Parity Meaning Reference
None Not use parity bit
Even If the number of 1 is even in the one byte, it sends 0 at the parity bit.
Odd If the number of 1 is odd in the one byte, it sends 0 at the parity bit.

(3) Operation mode

Each channel of Cnet I/F module operates as server or client, each channel operates independently.
Driver type Meaning Reference
Relevant port acts as client and it communicates by P2P Refer to P2P
P2P
parameter setting. setting
Support the XGT dedicated communication and act as XGT
XGT server
server.
Modbus ASCII server Act as Modbus ASCII server For dedicated
Modus RTU server Act as Modbus RTU server service

After analyzes the protocol automatically, act as XGT/Modbus

Smart server
ASCII/Modbus RTU server
If operation mode of Cnet channel is XGT server or Modbus, it supports the loader service with the dedicated service

a) XGT Server
Support reading/writing memory of the dedicated service
b) Modbus ASCII/RTU Server
1) This is used when network is configured with modbus protocol and Cnet I/F module acts as server.
2) Since modbus memory area is different with XGT memory area, memory mapping is necessary.

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15.7.2 Downloading Parameters

To operate XMC-Cnet according to user-defined communication specification and mode, you should follow procedures below.

1) Communication setting contents

 Channel 1:RS-232C, 9600Bps, 8/1/NONE, XGT server, station 1

 Channel2: RS-485, 38400Bps, 8/1/ODD, P2P, station 2, response waiting time100ms
Inter-character waiting time 0ms, XGT server

2) After Cnet module is registered, double click the Cnet module and the following default setting window appears.

3) Download the parameter

Select [Online  Connection  Write] menu and [Confirm the Parameter Download Window] to perform download.
After the download is complete, the parameters are applied immediately after the download is complete. At this time,
if [Link Enable Setting Together] is checked, Link Enable is also set.

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4) Check the operation

The status check and diagnostic method of the system and network through system diagnostics of XG5000 are as follows.
Connect XG5000 to the basic unit and select “Online  Communication Module Setting  System Diagnostics” in the
menu, or click the system diagnostics icon ( ) and the following window appears.

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15.7.3 Server Function and P2P Service

Server function is a built-in function in the built-in Cnet and enables PC and peripheral devices to read and write
information and data in PLC without creating separate program in PLC.
It operates as a server in the communication network and responds when memory read and write requests that follow
the XGT dedicated protocol or Modbus protocol are received from the external device or PC.

1) Server function

(1) XGT dedicated server

It is used in inter-company communication as its company-dedicated protocol service, and the characters used in all
frames are composed of ASCII codes. When used in multi-drop mode, up to 32 stations can be connected for use.
Make sure not to set duplicate station number on the same network, and the communication speed/stop bit/parity
bit/data bit of all Cnet I/F modules on the network should be the same when used as multi-drop. Please refer to “15.6
XGT dedicated protocol“ for details on the protocol.

(2) Modbus server

It is used when the target device for communication operates as a Modbus client.
It supports both RTU mode and ASCII mode of Modbus and can be defined in the default setting window operation
mode.

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The maximum number of Modbus commands and response data supported by the Modbus RTU/ASCII driver is
shown in the following table. The other client device should make requests only within the scope of the table below.

Code Use Address Maximum number of response data

01 Read Coil Status 0XXXX 2000 Coils
02 Read Input Status 1XXXX 2000 Coils
03 Read Holding Registers 4XXXX 125 Registers
04 Read Input Registers 3XXXX 125 Registers
05 Force Single Coil 0XXXX 1 Coil
06 Preset Single Register 4XXXX 1 Register
15 Force Multiple Coils 0XXXX 1968 Coils
16 Preset Multiple Registers 4XXXX 120 Registers
[Modbus command code]

The area corresponding to the command code in the above table must be set in the Stand-alone Motion controller
serial communication module memory. The [Modbus Settings] button becomes active when the Modbus ASCII server
or Modbus RTU server is selected as the operation mode in the [Preferences] window. If you click on it, the [Modbus
Settings] window will appear as shown below, and you can set the start address here.

[Modbus server memory setting]

Details of respective setting item are as follows

Item Description Remarks

Bit read area address XGT address applicable to Bit input area Bit address
Bit write area address XGT address applicable to Bit output area Bit address
Word read area address XGT address applicable to Word input area Word address
Word write area address XGT address applicable to Word output area Word address
[Details of Modbus Area]

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1) P2P Service
P2P service performs the client operation of the communication module, and there are four commands available in
Cnet: Read/Write/Send/Receive. The registration and editing of P2P service are done in XG5000, and each P2P
parameters consist of up to 64 P2P blocks. The following figure shows an example of the P2P parameter setting
window of XG5000.

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(1) P2P parameter configuration

In order to use P2P service, a user should perform settings for desired operation in P2P parameter window.
The P2P parameter consists of three pieces of information as shown below.

Division Contents Remarks

- Set P2P channel to define the communication protocol of P2P service to perform
- XGT/Modbus available
P2P channel
- It is possible to set independently for each channel. It is applied only when the operation
mode of the default settings is “Use P2P”.
P2P block Set 64 P2P blocks that operate independently
User-defined frame
Set frame for user-defined communication
registration

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(2) Channel settings

Built-in Cnet I/F function is fixed to P2P No. 1 and provides two fixed communication channels. In the built-in Cnet
I/F, dry type for P2P service can be defined respectively.

The following drivers can be selected when 'Enable P2P' is selected in the operation mode.

Driver Meaning
None P2P service is not used
User frame definition Used when it sends/receives the desired user-defined frame
XGT client Selected when it performs memory read/write of XGT
LS Bus client Selected when it communicates with the inverter of its company
Modbus ASCII client Selected when it operates as a Modbus client and is used in ASCII mode
Modbus RTU client Selected when it operates as a Modbus client and is used in RTU mode

User frame definition communication is possible only when P2P driver is set to user frame with respect to the
communication channel.

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(3) P2P block setting

If you select the P2P block of the corresponding parameter in the [P2P Parameter Setting] window, the [P2P Block
Setting] window appears. The block setting window of all protocols is as shown in the figure below. Depending on
the protocol selected in the P2P channel, the active area is displayed differently.

P2P channel P2P block settings

P2P block settings

.

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15.7.4 Start operation

The operation mode of the serial communication of stand-alone motion controller can be roughly divided into P2P service
and server function. To use each mode, follow the steps below.

1) When operating as a server

(1) Connection setup

(a) Select [Online] → [Connection Settings] or click the icon ( ).

(b) Set connection options for your environment and click [Connect].

(2) Default setting

(a) Double-click the serial communication module in the project window to launch the [Preferences] window and set the
connection. Set the communication type, communication speed, data bit, stop bit, and station number in the menu.
(b) The delay time can be set only when RS-485 is used, and the response wait time can be set only when using P2P
as the operation mode in RS-485 communication.
(c) Cnet's repeater mode does not support Auto Speed.
When communicating via RS-485 channel, it is necessary to connect a terminating resistor from the outside.

 When used as a Modbus ASCII server, the data bit is 7

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(3) Select operating mode

(a) Select the operation mode of the server to be used.
(b) Built-in Cnet supports XGT server, Modbus ASCII server, Modbus RTU server.

(4) Write parameters

(a) Select [Online] → [Write] or click the icon ( ).

(b) Check ( ) the module with the default settings and click [OK].
(c) Click the [OK] button, and when the parameter writing finishes, reset each module.

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(5) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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2) When operating as a P2P service (client)

(1) Connection setup

(a) Select [Online] → [Connection Settings] or click the icon ( ).

(b) Set connection options for your environment and click [Connect].

(2) Channel setting

(a) In the [P2P Parameter Setting] window, double-click the P2P channel to select the protocol for each channel.
(b) The P2P driver supports user frame definition, XGT client, LS bus client, Modbus RTU client, and Modbus ASCII client.

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(3) P2P block setting

(a) Depending on the type of client selected in the channel setting, the P2P block setting value will be activated differently.
(b) Creates the contents of the cell that is in the active state for the protocol type.

* In the case of user frame definition, the frame must be created in the user frame definition before it can be used.

(4) Write parameters

(a) Select [Online] → [Write] or click the icon ( ).

(b) Check ( ) the module with the default settings and click [OK].
(c) Click the [OK] button, and when the parameter writing finishes, reset each module.

(5) Link enable

(a) Select [Online] → [Communication module settings] → [Link Enable] or click the icon ( )
(b) Check ( ) the configured P2P and click [Write].

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(6) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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15.7.5 Diagnostic Function of XG5000

1) Types of diagnostic functions

With XG5000, you can check/diagnose the status of network and various systems such as basic unit status,
communication module information, service status information and frame monitor, etc.
The available diagnostic functions are as follows.

▶ XMC base unit status

▶ Communication module information
▶ Frame monitor
▶ Service status
▶ Media Information

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

2) Check the XMC base unit status

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(1) XMC unit information

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the XMC base unit and then right-click.
(c) If you click [CPU Module Information], the screen to check the status of the CPU module is displayed as shown below.

3) Communication module Information.

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).

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(b) Click the Cnet I / F module and click the right mouse button.
(c) If you click [Communication module information], the screen to check the status of communication module is displayed
as below.

Items Contents
Indicate the type of the communication module currently being
Communication module type
diagnosed.
Indicate the base information of the communication module
Base No. currently being diagnosed.
It is fixed to 0 and displayed in XGB PLC.
Indicate the slot number of the communication module currently
Slot No. being diagnosed.
It is fixed to 0 and displayed in built-in communication
Station No. Station number of the channel used in P2P and dedicated service
Information of the communication type (RS-232C, RS-485) of the
Connection method
corresponding channel
Indicate whether the hardware of the communication module is
Hardware error status
normal or not.
Hardware version Version of communication module hardware
OS version Indicate the version of the communication module OS
P2P Indicate the P2P communication is enabled/disabled
Whether to download the default communication parameters
System parameter information
Display the error information of default communication parameters

4) Frame monitor
The frame monitor of XG5000 allows you to check whether the frame transmitted/received through the Cnet I/F
module is normal or not.

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(1) Frame monitor

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the Cnet I / F module and click the right mouse button.
(c) If you click [Frame Monitor], the screen to monitor the communication status will appear as shown below.

(2) Frame monitor details

Items Contents

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Base No. Base position of the communication module being monitored

Basic information
Slot No. Slot position of the communication module being monitored
Channel
Monitor option Select the channel to monitor
selection
Type Indicate the transmission frame and reception frame
Indicate the protocol type currently being used
1) XGT server
2) XGT client
Processed
3) Modbus server
results
Frame monitor 4) Modbus client
window 5) User defined
6) Unknown: Frame that cannot be processed
Size Length of the monitored frame
Time Display the point of time for transmission/reception
Frame data Display the data of transmitted/received frame

View in HEX Display the frame data with HEX values

View in ASCII Display the frame data with ASCII values

Save file Save the frame monitoring contents to a file

Start Start of the frame monitoring operation

Stop Stop the monitoring status

Close Close the frame monitor window

5) Service status
(1) Dedicated service

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(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the built-in Cnet and then right-click.
(c) Click [Service Status] and select [Dedicated Service] in the following screen.
(d) Click [Continue Reading] to check the status of each service.

(2) P2P service

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the built-in Cnet and then right-click.
(c) Click [Service Status] and select [P2P Service] in the following screen.
(d) Click [Continue Reading] to check the status of each service.

(3) Service-specific details

Division Item Contents

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Check the dedicated service status information every

Continuous Continuous Read
second
Read/
Check the dedicated service status information at the
Redo Redo
time of execution
Base position of the module using the dedicated
Base No.
service
Basic information
Slot No. Slot position of the module using the dedicated service
Link type Type of the communication module being used
Dedicated service information Indicate the type of drives being used for each channel
Dedicated
service Port No. Indicate the channel number
Indicate the number of dedicated service
Detailed Service count
communications
information
Indicate the number of errors that occur during the
window Error count
dedicated service communication
Status Display the dedicated service communication status
Base No. Base position of the module using the P2P service
Basic information Slot No. Slot position of the module using the P2P service
Link type Type of the communication module being used
Presence of P2P Indicate whether the P2P parameter is downloaded or
P2P service parameters not
information P2P driver setting information for each channel
Driver type
XGT client/MODBUS client/User definable
Available from 0 to 63
P2P service Block No. Display only the currently registered block being
operated
Port No. Indicate the channel number
Detailed Display service execution status information for each
Status
information block
Indicate the number of times each block has been
Service count
executed since the P2P service was performed
Indicate the number of errors that occur during the
Error count
service
Continuous Continuous Read Check the P2P service status information every second
Read/ Check the P2P service status information at the time of
Restart
Redo execution

(4) Service status code

The status codes provided by the Service Status are used to determine whether Cnet I/F performs normal
communication or not.

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Dedicated service P2P service

Status Meaning Status Meaning

0 Normal communication 0 Normal communication

Maximum station setting error(when setting 0 to

1 Reception frame header error (No ACK/NAK) 4
255 stations or more)

2 Reception frame tail error(No Tail) 5 Time out occurs

1.Modbus address error

3 Reception frame BCC error FFFE
2.When using commands other than Read/Write
The station number of the received frame is different
9
from the number of its station (Its station number=0)

0A No response is received from the CPU

The received frame is longer than the Modbus

0B -
maximum frame
The received frame is not Modbus ASCII / Modbus
0C
RTU

0D HEX conversion error in Modbus occurs

6) Media Information
It provides statistical value of media status and service status of built-in Cnet and is used to determine whether
communication is normal or not.

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(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the built-in Cnet and then right-click.
(c) If you click [Media Info], the following screen appears.

15.8 XGT Communication

15.8.1 XGT Protocol Overview
The XGT protocol is a Cnet I/F module dedicated protocol developed by LS Industrial Systems.

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In addition, it can check the communication status by monitoring the actual protocol when communicating with the other
device through the frame monitoring of XG5000. The XGT protocol is divided into an XGT client that requests the other
device to read and write data and an XGT server that responds to the contents requested from the XGT client.

(1) Data Read/Write

The monitoring function and device area read/write function inside the CPU module of the XGT client/server can be
used to easily construct a communication system intended by a user.

(2) Frame monitor

The frame monitoring function of XG5000 that sets parameters of Cnet I/F module can actually check the frame
of XGT client and server when communicating with the other station, and it analyzes the data through frame
monitoring, check the error code when the error occurs and can solve the problems that occur during
communication.

(3) XGT client, server

In communication using the XGT protocol, the XGT client requests the other device to read or write data, and the
XGT server analyzes the data received from the XGT client and processes the requested command along with the
ACK response when receiving a frame that conforms to the XGT protocol specification but transmits the NAK
response including the error code to the XGT client.

(4) Functions provided by Cnet when using XGT protocol

(a) Operate the independent channel of RS-232C and RS-485
(b) Device Individual/Continuous Write
(c) Device Individual/Continuous Read
(d) Monitor variable registration
(e) Monitor execution
(f) 1:1 connection (its own link) system configuration

15.8.2 P2P service

The frame of the XGT protocol is largely divided into a frame in which a communication device that operates as an XGT
client makes a request to read/write data and a frame that responds to the request frame of the client.

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1) Frame structure
(1) Command frame sequence
When the request frame that is standardized from the XGT client is transmitted to the server, the server analyzes the
received request server frame and transmits the ACK response when receiving the frame that conforms to the
predetermined protocol rule. Otherwise, it transits the NAK frame to which the error code is attached.

station command command structured Transmit data request frame

number type data area

Transmit ACK response (when receiving right frame)

station command command data area or
number type Null code
Transmit NAK response(when receiving wrong frame)
station command command error code
number type

(2) Basic frame structure of the XGT protocol

(a) Request frame (Equipment operating as the XGT client)

Partner
Header Command Frame check
station Command Structured data area Tail(EOT)
(ENQ) type (BCC)
number

(b) Response frame (Equipment operating as the XGT server)

1) ACK response frame(Received frame that meet the rules of the XGT protocol)
Header Its station Command Structured data area Frame check
Command Tail(ETX)
(ACK) number type or null code (BCC)

2) NAK response frame (Received frame that does not meet the rules of the XGT protocol)
Header Its station Command Error code Frame check
Command Tail(ETX)
(NAK) number type (ASCII type 4 byte) (BCC)

(3) Frame characteristics

(a) The numeric data of all frames is displayed in ASCII code for hexadecimal values unless otherwise specified.
(b) The items displayed in hexadecimal are as follows.
a) Station number
b) Command type in case command type is numeric (data type) when main command is R(r) or W(w)

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c) All items that display all data sizes in the structured data area
d) Command registration number with respect to monitor registration and execution command
e) All contents of data

(c) In the case of hexadecimal data, ‘h’ is attached to the number as in h01, h12345, h34, h12 and h89AB, etc. to
indicate that this data is hexadecimal.
(d) The maximum length of available frame is 256 bytes.
(e) The contents of control codes used are shown below.

Code Hex Name Control contents

ENQ 05 Enquire Start code of request frame
ACK 06 Acknowledge Start code of ACK response frame
NAK 15 Not Acknowledge Start code of NAK response frame
ASCII code for ending request
EOT 04 End of Text
frame
ASCII code for ending response
ETX 03 End Text
frame

(f) If the command is composed of lowercase letters, the BCC value is added to the frame check. If it consists of
capital letters, the BCC value is not added.
Example)Device read command R(r)
- Lowercase letter r: BCC is added
- Capital letter R: BCC is not added

2) XGT Communication Commands

(1) Types of commands

The types of commands used in the dedicated communication are summarized below.
Command Processing contents

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Division Main command Command type

Item ASCII Hex ASCII Hex
Individual
r(R) h72(h52) SS h5353 Read direct variables of bit and word type
Read read
device Continuo Read direct variables of word type in block
r(R) h72(h52) SB h5342
us read unit*Note 1)
Individual Write data to direct variables of bit and word
w(W) h77(h57) SS h5353
Write write type
device Continuo Write block units to direct variables of word
w(W) h77(h57) SB h5342
write type*Note 2)

Command
Division Main command Registration No. Processing contents
Item Frame Registration
Hex Hex
example No.
Monitor variable
x(X) h78(h58) 00 ~ 09 h3030 ~ 3039 Register variables to monitor
registration
Monitor execution y(Y) h79(h59) 00 ~ 09 h3030 ~ 3039 Execute monitor of registered variables

(2) Data type

Display frame
Data type Usage example
example
%MX000, %LX000, %KX000, %FX000,
Bit X(58h)
%IX0.0.0, %QX0.0.0, %UX0.0.0 , etc.
%MB000, %LB000, %KB000, %FB000,
Byte B(42h)
%IB0.0.0, %QB0.0.0, etc.
%MW000, %LW000, %KW000, %FW000,
Word W(57h)
%IW0.0.0, %QW0.0.0, %MW0, %RW0, %UW0.0, etc.
Double %MD000, %LD000, %KD000, %FD000,
D(44h)
word*Note 3) %ID0.0.0, %QD0.0.0, %MD0, etc.
Long word*Note %ML000, %LL000, %KL000, %FL000,
4) L(4Ch)
%IL0.0.0, %QL0.0.0, %ML0, etc.

Notice

Note 1) Bit continuous read is not allowed in the case of continuous read.
Note 2) Bit continuous write is not allowed in the case of continuous write.
Note 3) Double word: 1 double word is 4 byes when converted into byte.
Note 4) Long word: 1 long word is 8 bytes when converted into byte

(3) Available device area

Area Range Size(Word) Remarks

M MW0 – MW1048575 1048576 Read/Write/Monitor available

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K KW0 – KW9215 9216 Read/Monitor available

F FW0 – FW65535 65536 Read/Monitor available
L LW0 – LW11263 11264 Read/Write/Monitor available
U UW0.0.0– UW0.15.31 512 Read/Write/Monitor available
I IW0.0.0 –IW127.15.3 8192 Read/Write/Monitor available
Q QW0.0.0– QW127.15.3 8192 Read/Write/Monitor available

3)Individual writing of direct variables (W(w)SS)

This function is used to directly specify the PLC device memory to be used and write it according to the memory data type.

(1) Example of the individual write request frame of XGT client

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Statio
Comm Numbe Varia
Head n Comma Variable Frame
Division and r of ble Data ... Tail
er numb nd name check
type blocks length
er
%MW1
Frame ENQ 20 W(w) SS 01 06 00E2 ... EOT BCC
00
h254D5
h3030453
Hex h05 h3230 h57(77) h5353 h3031 h3036 7 ... h04
2
313030

(2) Example of the response frame of XGT server

a)ACK response
Division Header Station number Command Command type Tail Frame check
Frame ACK 20 W(w) SS ETX BCC
Hex h06 h3230 h57(77) h5353 h03
b) NAK response
Station Command Error code
Division Header Command Tail Frame check
number type (2 bytes)
Frame NAK 20 W(w) SS 4252 ETX BCC
Hex h15 h3230 h57(77) h5353 h34323532 h03

c) Meanings of each item

Division Descriptions

▶ The number of blocks consisting of variable length + variable name

Number of
- Maximum setting: 16 blocks
blocks
- Setting range: 01(Hex value:3031) ~ 10(HexI value:3130)
▶The number of characters in the variable name
- Maximum setting: 16
Variable - Setting range: 01(Hex value:3031) ~ 10(Hex value:3130)
length Example) If the variable name is %MW0, the variable length is h04 since the number of
characters is 4. If the variable name is %MW000, the variable length is h06 since the number of
characters is 6.
▶ Address of write device
Variable
- Setting range: 12 characters or less
name
- Notice: Not allowed except for digits, upper/lower case frames, and ‘%’
▶If the value you want to write in the %MW100 area is h A, the format of the data should be
h000A.
-Usage example
Data
If the data type you want to write is word, and the data to be written is h1234, its ASCII code
conversion value is 31323334, and this content should be contained in the data area. That is, the
highest value is transmitted first, and the lowest value should be transmitted for the last time.
▶The BCC value is added if the command is a lowercase frame example (w), whereas the BCC
value is not added if the command is an uppercase frame example (W).
Frame check ▶If the command is the lowercase frame example (w), values ranging from ENQ to EOT are
converted into Hex values, and only 1 low-order byte of the result obtained by adding one byte is
added to the BCC.

Notice
(1) The device data type of each block should be the same.
(2) If the data type is a bit, the data to be written should be represented by 1 byte in hexadecimal.
That is, if bit value is 0, it should be h00(3030), and if it is 1, h01(3031).

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(3) Usage example

This example supposes that ‘ hFF’is written in M0230 of station No. 1

a) Individual write request frame of XGT client

Station Comman Comman Number Variable Variable Frame
Division Header Data Tail
number d d type of blocks length name check
Frame ENQ 01 W(w) SS 01 06 %MW230 00FF EOT BCC
h254D57 h3030464
Hex h05 h3031 h57(77) h5353 h3031 h3036 h04
323330 6

b) Response frame of XGT server

- ACK response
Division Header Station number Command Command type Tail Frame check
Frame ACK 01 W(w) SS ETX BCC
Hex h06 h3031 h57(77) h5353 h03

- NAK response
Station Command
Division Header Command Error code Tail Frame check
number type
Error code
Frame NAK 01 W(w) SS ETX BCC
(2 bytes)
Error code
Hex h15 h3031 h57(77) h5353 h03
(4 bytes)

4) Individual reading of direct variables(R(r)SS)

This function is used to direct specify and read the PLC device according to the data type.
It makes it possible to read 16 independent device memories at a time.

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(1) Example of the individual read request frame of XGT client

Station Command Number of Variable
Division Header Command Variable name ㆍㆍㆍ Tail Frame check
number type blocks length
Frame ENQ 20 R(r) SS 01 06 %MW100 ㆍㆍㆍ EOT BCC
h254D5731303
Hex h05 h3230 h52(72) h5353 h3031 h3036 ㆍㆍㆍ h04
0

(2) Example of the response frame of XGT server

a)ACK response
Number
Station Comma Comma Number Frame
Division Header of Data ..... Tail
number nd nd type of data check
blocks
Frame ACK 20 R(r) SS 01 02 A9F3 ETX BCC
Hex h06 h3230 h52(72) h5353 h3031 h3032 h41394633 h03

b) NAK response
Station Command Error code
Division Header Command Tail Frame check
number type (2 bytes)
Frame NAK 20 R(r) SS 1132 ETX BCC
Hex h15 h3230 h52(72) h5353 h31313332 h03 -

(3) Meanings of each item

Division Descriptions

▶ The number of blocks consisting of variable length + variable name

Number of
▷Maximum setting: 16 blocks
blocks
▷Setting range: 01(ASCII code:3031) ~ 10(ASCII code:3130)

▶The number of characters in the variable name

▷Maximum setting: 16
▷Setting range: 01(ASCII code:3031) ~ 10(ASCII code:3130)
Variable length
▷Example) If the variable name is %MW0, the variable length is h04 since the number of characters
is 4. If the variable name is %MW000, the variable length is h06 since the number of characters is
6.

▶Address of write device

Variable name ▷Setting range: 12 characters or less
▷Notice: Not allowed except for digits, upper/lowercase frames, and ‘%’

Division Descriptions

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▶It means the number of bytes of Hex type and is converted into ASCII.
▶ The number is determined by the data type(X,B,W,D,L) contained in the direct variable name of
the external communication device request format
▷The number of data according to the variable type is shown below.

Data type Available direct variables Number of data

Number of data Bit(X) %(P,M,L,K,F,T,C,I,Q,W,R)X 1
Byte(B) %(P,M,L,K,F,T,C,I,Q,W,R)B 1
Word(W) %(P,M,L,K,F,T,C,I,Q,W,R)W 2
Double word(D) %(P,M,L,K,F,T,C,I,Q,W,R)D 4
Long word(L) %(P,M,L,K,F,T,C,I,Q,W,R)L 8

▶ The value obtained by converting the data of area hexadecimal into ASCII code is stored
▷Usage example 1
If the number of data is h04 (ASCII code: h3034), it indicates that there are 4 bytes of Hex data
in the data. That is, 4 bytes of hexadecimal data is converted into ASCII code in the data.
Data
▷Usage example 2
If the number of data is h04, and the data is h12345678, its ASCII code conversion value is
“31 32 33 34 35 36 37 38”, and this content is contained in the data area. That is, the highest value
comes first, and the lowest number is transmitted for the last time.

Notice

1) If the data type is a bit, the read data is displayed in the form of a byte.
That is, if bit value is 0, it is displayed as h00, and if it is 1, h01.

(4) Usage example

This example supposes that 1 word is read from M0001 and M0020 of station No. 1,

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(It is assumed that h1234 is contained in M0020, and M0001 contains h5678.)

a) Individual read request frame of XGT client

Statio
Number Variabl
Hea n Comma Comma Variable Variable Variable Frame
Division of e Tail
der numb nd nd type length name name check
blocks length
er
%MW02
Frame ENQ 01 R(r) SS 02 06 06 %MW001 EOT BCC
0
h254D57 h254D573
Hex h05 h3031 h52(72) h5353 h3032 h3036 h3036 h04
303230 0303031

b) Response frame of XGT server

- ACK response
Statio
Number
Hea n Comma Comma Number Number Frame
Division of Data Data Tail
der numb nd nd type of data of data check
blocks
er
Frame ACK 01 R(r) SS 02 02 1234 02 5678 ETX BCC
h3132333
Hex h06 h3031 h52(72) h5353 h3032 h3032 h3032 h35363738 h03
4

- NAK response
Hea Station Comman Command
Division Error code Tail Frame check
der number d type
Frame NAK 01 R(r) SS Error code(2 bytes) ETX BCC
Hex h15 h3031 h52(72) h5353 Error code(4 bytes) h03

5) Continuous writing of direct variables (W(w)SB)

This function is used to write the data of the specified length continuously from the specified address of the device.

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(1) Example f the continuous write request frame of XGT client

Station Variabl
Head Comma Comman Number of Frame
Division numbe e Variable name Data Tail
er nd d type data check
r length
Frame ENQ 10 W(w) SB 06 %MW100 02 11112222 EOT BCC
h254D5731303 h31313131
Hex h05 h3130 h57(77) h5342 h3036 h3034 h04
0 32323232

(2) Example of the response frame of XGT server

a)ACK response
Station
Division Header Command Command type Tail Frame check
number
Frame ACK 10 W(w) SB ETX BCC
Hex h06 h3130 h57(77) h5342 h03

b) NAK response
Station Command Error code
Division Header Command Tail Frame check
number type (Hex 2 bytes)

Frame ENQ 10 W(w) SB 1132 ETX BCC

Hex h05 h3130 h57(77) h5342 h31313332 h03

(3) Meanings of each item

Division Descriptions
Variable name It means the start address of the device to perform continuous write.

The number of data specifies the number according to the type of direct variable.
That is, if the device data type is word, the number of data is 5, it means that 5 words need to be
Number of data
written. The maximum number of data is 120 bytes for Hex, and it is 240 bytes when converted
to ASCII value.

(4) Usage example

This example supposes that 2 bytes of hAA15 is written in M000 of station No. 1.

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a) Continuous write request frame of XGT client

Numbe
Station Comman Variable Frame
Division Header Command Variable name r of Data Tail
number d type length check
data
Frame ENQ 01 W(w) SB 06 %MW000 01 AA15 EOT BCC
h254D5730 h4141313
Hex h05 h3031 h57(77) h5342 h3036 h3031 h04
3030 5

b) Response frame of XGT server

- ACK response
Format Station
Header Command Command type Tail Frame check
name number
Frame ACK 01 W(w) SB ETX BCC
Hex h06 h3031 h57(77) h5342 h03

- NAK response
Format Station
Header Command Command type Error code Tail Frame check
name number
Frame NAK 01 W(w) SB Error code(2) ETX BCC
Hex h15 h3031 h57(77) h5342 Error code(4) h03

6) Continuous reading of direct variables(R(r)SB)

This function is to continuously read as much data as the specified amount from the designated address of the

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PLC device.
(1) Example of continuous read request frame of XGT client
Station Comma Command Variable Number of data Frame
Division Header Variable name Tail
number nd type length (Up to 240 bytes) check
Frame ENQ 10 R(r) SB 06 %MW100 05 EOT BCC
Hex h05 h3130 h52(72) h5342 h3036 h254D57313030 h3035 h04

(2) Example of the response frame of XGT server

a)ACK response
Station Command Number of Number of Frame
Division Header Command Data Tail
number type blocks data check
Frame ACK 10 R(r) SB 01 02 1122 ETX BCC
Hex h06 h3130 h52(72) h5342 h3031 h3032 h31313232 h03

b) NAK response
Head Station Comman Error code
Division Command Tail Frame check
er number d type (Hex 2 byte)
Frame NAK 10 R(r) SB 1132 ETX BCC
Hex h15 h3130 h52(72) h5342 h31313332 h03

(3) Meanings of each item

Division Descriptions

▶It means the number of bytes of Hex type and is converted to ASCII.
▶The number indicates the number of bytes.
Data type Available direct variables Number of data
Bit(X) %(P,M,L,K,F,T,C,I,Q,W,R)X 1
Number of data Byte(B) %(P,M,L,K,F,T,C,I,Q,W,R)B 1
Word(W) %(P,M,L,K,F,T,C,I,Q,W,R)W 2
Double word(D) %(P,M,L,K,F,T,C,I,Q,W,R)D 4
Long word(L) %(P,M,L,K,F,T,C,I,Q,W,R)L 8

▶The data area contains the value obtained by converting Hex data to ASCII code
▷Usage example 1
If the memory type included in the direct variable name of the PC request format is W(word),
and the number of data in the PC request format is 03, the number of PLC ACK response
Data data after executing the command is h06(2*03 = 06 bytes)bytes, and this value is ASCII code
value 3036.
▷ Usage example 2
In the above example, if the 3-word data contents are 1234,5678,9ABC in order, the actual
ASCII code conversion value is 31323334 35363738 39414243, and this content is contained
in the data area.

(4) Usage example

This example supposes that 2 words is read from M000 of station No. 10(h0A).
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(It is assumed that the following data is contained in M000 and M001.)
M000 = h1234
M001 = h5678

a) Continuous read request frame of XGT client

Head Station Command Variable Variable Number of Frame
Division Command Tail
er number type length name data check
Frame ENQ 0A R(r) SB 06 %MW000 02 EOT BCC
h254D30
Hex h05 h3041 h52(72) h5342 h3036 h3032 h04
3030

b) Response frame of XGT server

- ACK response
Head Station Command Frame
Division Command Number of data Data Tail
er number type check
Frame ACK 0A R(r) SB 04 12345678 ETX BCC
Hex h06 h3041 h52(72) h5342 h3034 h3132333435363738 03

- NAK response
Head Station
Division Command Command type Error code Tail BCC
er number
Frame NAK 0A R(r) SB Error code(2 bytes) ETX BCC
Hex h15 h3041 h52(72) h5342 Error code(4 bytes) h03

7) Registration and Execution of Monitor Variables

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(1) Registration of monitor variables(X##)

Monitor register can register up to 32 (0 to 31) variables individually in combination with the actual variable
reading command, and execute what is registered by monitor command after registration.

(a) Example of the monitor variable registration frame of XGT client

Station
Head Comman Registration Registration
Structure numbe Tail Frame check
er d number format
r
Refer to
Frame ENQ 01 X(x) 09 registration EOT BCC
format
Hex h05 h3031 h58(78) h3039 *Note 1) h04

(b) Example of the monitor variable response frame of XGT server

a) ACK response
Heade Station Registration
Structure Command Tail Frame check
r number number
Frame ACK 01 X(x) 09 ETX BCC
Hex h06 h3031 h58(78) h3039 h03

b) NAK response
Registrat
Heade Station Comma Error code
Structure ion Tail Frame check
r number nd (Hex 2 bytes)
number
Frame NAK 01 X(x) 09 h1132 ETX BCC
Hex h15 h3031 h58(78) h3039 h31313332 h03

(c) Meanings of each item

Division Descriptions
Registration Up to 32 numbers (0~31, h00~h1F) can be registered. If you register the already registered
number number again, what is currently executed is registered.
Registration It is used before EOT in the command among the device individual reading and continuous
format reading formats.

Notice

Note1) Please be sure to select one of the following registration formats for request formats.

▶Individual reading of device

Number of blocks(2
RSS Variable length(2 bytes) Variable name(16 bytes) ...
bytes)

1 block(Max. 16 blocks)
▶Continuous reading of device
RSB Variable length (2 bytes) Variable name (16 bytes) Number of data

(d) Usage example

This example supposes that the device M0000 of station No. 1 is registered as No. 01.

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a) Monitor variable registration frame of XGT client

Registrati Registration format
Heade Station Comman Frame
Division on Comma Number Variable Variable Tail
r number d check
number nd type of blocks length name
Frame ENQ 01 X(x) 01 RSS 01 06 %MW000 EOT BCC
h52535 h30 h25545730
Hex h05 h3031 h58(78) h3031 h3036 h04
3 31 3030

b) Monitor variable response frame of XGT

- ACK response
Station Registration
Division Header Command Tail Frame check
number number
Frame ACK 01 X(x) 01 ETX BCC

Hex h06 h3031 h58(78) h3031 h03

- NAK response
Station Registration
Division Header Command Error code Tail Frame check
number number
Frame NAK 01 X(x) 01 Error code(2) ETX BCC
Hex h15 h3031 h58(78) h3031 Error code(4) h03

(2) Monitor execution(Y##)

Monitor execution is a function to execute the reading of device registered by monitor register. It specifies the

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registered number and executes the reading of device registered by the number.

(a) Example of the monitor execution frame of XGT client

Station Registration Frame
Division Header Command Tail
number number check
Frame ENQ 10 Y(y) 09 EOT BCC
Hex h05 h3130 h59(79) h3039 h03

(b) Example of the monitor execution response frame of XGT server

a) ACK response
- If the registration format of registration number is individual reading of device
Numbe
Heade Station Comman Registratio Number Frame
Division r of Data Tail
r number d n number of blocks check
data
Frame ACK 10 Y(y) 09 01 02 9183 ETX BCC
h3931383
Hex h06 h3130 h59(79) h3039 h3031 h3032 h03
3

-If the registration format of registration number is continuous reading of direct variable
Registrati
Station Comman Number Frame
Division Header on Data Tail
number d of data check
number
Frame ACK 10 Y(y) 09 04 9183AABB ETX BCC
Hex h06 h3130 h59(79) h3039 h3034 h3931383341414242 h03

b) NAK response
Station Registration Error code Frame
Division Header Command Tail
number number (Hex 2 byte) check
Frame NAK 10 Y(y) 09 1132 ETX BCC
Hex h15 h3130 h59(79) h3039 h31313332 h03

(c) Usage example

This example supposes that the reading of device registered as registration No. 1 in station No.1.

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It is assumed that what is registered is device M000, and its number of blocks is 1.

a) Monitor execution registration frame of XGT client

Registration
Division Header Station number Command Tail Frame check
number
Frame ENQ 01 Y(y) 01 EOT BCC
Hex h05 h3031 h59(79) h3031 h04

b) Monitor execution response frame of XGT server

- ACK response
Station
Head Comman Registratio Number Number
Division numbe Data Tail Frame check
er d n number of blocks of data
r
Frame ACK 01 Y(y) 01 01 02 2342 ETX BCC
Hex h06 h3031 h59(79) h3031 h3031 h3032 h32333432 h03

- NAK response
Station Registration
Division Header Command Error code Tail Frame check
number number
Frame NAK 01 Y(y) 01 Error code(2) ETX BCC
Hex h15 h3031 h59(79) h3031 Error code(4) h03

15.8.3 XGT communication function

1) Summary

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XGT communication operates as XGT server or P2P service depending on what setting of Cnet I / F module
operation mode. Each mode must be set to XG5000.

(1) XGT Server

(a) It makes it possible to read or write PLC information or data to PC or peripheral devices without writing
a separate program in PLC.
(b) The XGT client responds to frames requested.

(2) P2P Service

(a) Cnet This service allows I / F module to operate as a client on the network.
(b) When a specified event occurs, the memory of the other station can be read or written.
(c) Up to 64 independent P2P blocks can be defined per channel.

2) Setting parameter when using as XGT server

(1) Connection setup

(a) Select [Online] → [Connection Settings].
(b) Set connection options for your environment and click [Connect].

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(2) Basic setting

(a) Double-click the corresponding XMC built-in Cnet to open the [Preferences] window and set the
communication type, communication speed, modem type, data bit, stop bit and station number in the
[Connection Settings] menu.
(b) The modem function is not available.
(c) The delay time can be set only when the communication type is RS485, and the response wait time can be
set only when the communication type is RS485 and the operation mode is P2P.

(3) Select operating mode

Select the XGT server.

(4) Write parameters

(a) Select [Online] → [Write] or click the icon ( ).

(b) Check ( ) the module with the default settings and click [OK].
(c) Click the [OK] button, and when the parameter writing finishes, reset each module.

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(5) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

3) Setting parameter when using as XGT client

(1) P2P parameter configuration

In order to use P2P service, a user should perform settings for desired operation in P2P parameter window.
The P2P parameter consists of three pieces of information as shown below.

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Division Contents
- Set P2P channel to define the communication protocol of P2P service to
perform
P2P channel - XGT/Modbus available
- It is possible to set independently for each channel. It is applied only when
the operation mode of the default settings is “Use P2P”.
P2P block Set 64 P2P blocks that operate independently
User-defined frame
Set frame for user-defined communication
registration

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(2) P2P channel setting

Cnet I / F module provides two independent communication channels. You can define the driver type to perform
P2P service for each channel. However, for the P2P channel to function as a client, be sure to select 'Use P2P' in
the [Preferences] window. P2P channel setting according to operation mode is as follows

The following drivers can be selected when 'Enable P2P' is selected in the operation mode.
Driver Meaning
None P2P service is not used
User frame definition Used when it sends/receives the desired user-defined frame
XGT client Selected when it performs memory read/write of XGT
LS Bus client Selected when it communicates with the inverter of its company
Modbus ASCII client Selected when it operates as a Modbus client and is used in ASCII mode
Modbus RTU client Selected when it operates as a Modbus client and is used in RTU mode

If the P2P driver is selected as XGT or Modbus, user frame definition cannot be used.

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(3) P2P block settings

If you select the P2P block of the parameter in the P2P parameter setting window, P2P block setting window
appears. The set contents for the P2P block vary depending on the channel status set by a user.

P2P channel P2P block settings

(4) Setting parameter when using as XGT server

1) Connection setup
(a) Select [Online] → [Connection Settings].
(b) Set connection options for your environment and click [Connect].

2) Basic setting

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(a) Double-click the corresponding XMC built-in Cnet to open the [Preferences] window and set the
communication type, communication speed, modem type, data bit, stop bit and station number in the
[Connection Settings] menu.
(b) The modem function is not available.
(c) The delay time can be set only when the communication type is RS485, and the response wait time
can be set only when the communication type is RS485 and the operation mode is P2P.

3) Operation mode
Select 'Use P2P'.
(a) Setting P2P parameters

Number Classification Block type Contents

The set drive name changes according to the driver set in P2P
1 Channel
driver.

1. Read: Used to read arbitrary data from the partner station

2 P2P function
2. Write: Used to write arbitrary data to the partner station

1. Enter special flag or bit contact to select the time when data is
Start
3 transmitted and received
condition
2. Example: _T20MS(cycle: 20ms), %MX0(when MX0 is On)
Number Classification Block type Contents
1.Individual: Used to read or write data of up to 4 memory areas to
the other station(Example: M01, M10, M20, M30)
4 Mode
2.Continuous: Used to read or write continuous data to the other
station (Example: M01~M10)

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1. Individual mode: Data types are divided into five types: bit, 1 byte,
2 byte, 4 byte and 8 byte.
5 Data type
2. Continuous mode: Data types are divided into four types: 1 byte,
2 byte, 4 byte and 8 byte

1. This function is enabled only when the individual mode is

selected, and the number of data to be transmitted and received
Number of
6 is selected.
variables
However, the maximum allowable number of data is four.
2. If continuous mode is selected, it is fixed to 1.

1. This function is enabled only when the continuous mode is

7 Data size selected, and it is possible to set up to 120 bytes when the data type
is 1 byte.

Partner 1.It is checked automatically. If you do not use the block, click the
8
station check mark once again and the block will not work.

Partner 1. It means the station number of the partner station.

9 station 1) XGT dedicated communication: A total of 64 station numbers can
number be set from 0 to 63 stations.

1. When the P2P function is Read

1)Read area: Device area where data of the other station
(server) is stored
2)Storage area: Device area of its station (server) to store
10 Settings data which is read from the other station
2. When the P2P function is Write
1)Read area: Device area where data of its station is stored
2)Storage area: Device area of the other station to store data
of its station

(b) Write parameters

1) Select [Online] → [Write] or click the icon ( ).

2) Check ( ) the module with the default settings and click [OK].
3) Click the [OK] button, and when the parameter writing finishes, reset each module.

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(c) Link Enable

1) Select [Online] → [Communication module settings] → [Link enable].
2) Check the P2P block to be used and click [Write].

(d) Check operation

1) Select [Online] → [Communication module settings] → [System diagnostics].
2) Click the communication module whose status you want to diagnose and press the right
mouse button.
3) When the following screen appears, click [Frame Monitor] or [Service Status] to check the
operation status.

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4) Frame monitor
With the frame monitoring function provided by XG5000, you can check the frame that the client and
server exchange.

(1) Check operation

a) Select [Online] → [Communication module settings] → [System diagnostics].
b) Click the communication module whose status you want to diagnose and press the right
mouse button.
c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the
operation status.

(2) Frame monitor

(a) Select the channel you want to monitor.
(b) Since the XGT protocol is ASCII communication, select the view in ASCII mode.
(c) Click [Start] to check the sending / receiving frame.

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15.8.4 P2P Commands

1) P2PSN
Function block Descriptions
P2PSN
Input REQ :Function block execution request
BOOL REQ DONE BOOL P_NUM : P2P number
BL_NUM :Block number
USINT P_NUM STAT BOOL NUM :Station number
USINT BL_NUM
Output DONE :Maintain 1 after initial operation
USINT NUM STAT : Complete and ERR information

(1) Functions
a) The use of P2PSN command makes it possible to change the station number of P2P
service partner during the run.
b) It changes BL_NUM block remote station number of P_NUM P2P to NUM.

(2) Errors
When an error occurs, the error number is displayed on STAT.
STAT_NUM Contents Details
Occurs when a value other than
1 P2P number setting
cP_NUM(1~8) is set
Occurs when a value other than
2 Block number setting
BL_NUM(0~63) is set
4 Slot does not exist -
5 Module mismatch Not a communication module
Communication module that cannot be
6 Module mismatch
used for the command
Occurs when a value other than
7 Station number setting error
NUM(0~63) is set

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2) P2PRD

Function block Descriptions

P2PRD
Input REQ :Function block execution request
BOOL REQ DONE BOOL P_NUM : P2P number
BL_NUM :Block number
USINT P_NUM STAT USINT VAL_NUM :Variable number
USINT BL_NUM VAL_SIZE :Variable size
DEV :Device(only direct variables can be entered)
USINT VAL_NUM
VAL_SIZE Output DONE :Maintain 1 after initial operation
USINT
STAT : Complete and ERR information
ANY_BIT DEV
DWORD

STRING
LWORD
WORD

LREAL
UDINT
USINT

ULINT
BOOL
BYTE

REAL

DATE
TIME
DINT

UINT
SINT

LINT

TOD
ANY type Variable
INT

DT
variable name
description
DEV ○ ○ ○ ○ ○

(1) Functions
a) The P2PRD command changes the variable size of the P2P parameter block and the READ
device area. (Individual/continuous reading can be changed.)
b) The P_NUM, BL_NUM and VAL_NUM are used to specify the P2P parameters, blocks and
variables and change the variable size and device to VAL_SIZE(In the case of continuous reading,
VAL_SIZE means variable size, and it is the size of variable type in the case of individual reading)
and DEV, respectively. However, only direct variables can be entered for DEV. (e.g., %MW100)

(2) Errors
If the setting is outside the allowable range of P2P parameter set in XG5000, the corresponding error code occurs.
STAT_ Contents Details
NUM
1 P2P number setting error Occurs when a value other than P_NUM(1~8) is set
2 Block number setting error Occurs when a value other than BL_NUM(0~63) is set
Occurs when the variable number that is not allowed in the
3 Variable number setting error
P2P parameter set in XG5000 is entered.
4 Slot does not exist -
5 Module mismatch Not a communication module
6 Module mismatch Communication module that cannot be used for the command
Impossible to enter the offset of Modbus(e.g., 0x10000)
10 Modbus setting error
because only direct variables can be entered for DEV
Occurs when the variable size that is not allowed in the P2P
11 Variable size setting error
parameter set in XG5000 is entered
Occurs when the variable type that is not allowed in the P2P
12 Data type setting error
parameter set in XG5000 is entered

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3) P2PWR

Function block Descriptions

P2PWR
Input REQ : Function block execution request
BOOL REQ DONE BOOL P_NUM : P2P number
BL_NUM :Block number
USINT P_NUM STAT USINT
VAL_NUM :Variable number
USINT BL_NUM VAL_SIZE :Variable size
USINT VAL_NUM
DEV :Device(only direct variables can be entered)

USINT VAL_SIZE Output DONE : Maintain 1 after initial operation

ANY_BIT DEV STAT :Complete and ERR information
DWORD

STRING
LWORD
WORD

LREAL
UDINT
USINT

ULINT
BOOL

BYTE

REAL

DATE
TIME
DINT

UINT
SINT

LINT

TOD
ANY type Variable
INT

DT
variable name
description
DEV ○ ○ ○ ○ ○

(1) Functions
a) The P2PWR command changes the variable size of the P2P parameter block and the WRITE device
area. (Individual/continuous writing can be changed.)
b) The P_NUM, BL_NUM and VAL_NUM are used to specify the P2P parameters, blocks and variables
and change the variable size and device to VAL_SIZE(In the case of continuous writing, VAL_SIZE
means variable size, and it is the size of variable type in the case of individual writing) and DEV,
respectively. However, only direct variables can be entered for DEV. (e.g., %MW100)

(2) Errors
If the setting is outside the allowable range of P2P parameter set in XG5000, the corresponding error code occurs.
STAT_NUM Contents Details
1 P2P number setting error Occurs when a value other than P_NUM(1~8) is set
Block number setting Occurs when a value other than BL_NUM(0~63) is set
2
error
Variable number setting Occurs when the variable number that is not allowed in the P2P
3
error parameter set in XG5000 is entered.
4 Slot does not exist -
5 Module mismatch Not a communication module
6 Module mismatch Communication module that cannot be used for the command
Impossible to enter the offset of Modbus(e.g., 0x10000) because only
10 Modbus setting error
direct variables can be entered for DEV
Occurs when the variable size that is not allowed in the P2P parameter
11 Variable size setting error
set in XG5000 is entered
Occurs when the variable type that is not allowed in the P2P parameter
12 Data type setting error
set in XG5000 is entered

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15.9 LS Bus Protocol

15.9.1 LS Bus Protocol Architecture
LS Bus protocol communication is a protocol that is applied when communicating with the inverter of its company.
The use of the data read/write function and monitoring function of various internal device areas makes it possible to
easily construct a communication system intended by a user without settings specific to the inverter of its company.

LS Bus protocol functions provided by XMC are as follows.

 Continuous reading of device
 Continuous writing of device

1) Frame structure
(1) Basic structure
(a) Request frame (external communication device → Cnet)
Header Statio Frame check Tail
Command Structured data area
(ENQ) n No. (BCC) (EOT)

(b) ACK response frame (Cnet → external communication device, when receiving data normally)
Header Statio Frame check Tail
Command Structured data area
(ACK) n No. (BCC) (EOT)

(c) NAK response frame (Cnet → external communication device, when receiving data abnormally)
Header Statio Frame check Tail
Command Error code(ASCII 4 Byte)
(NAK) n No. (BCC) (EOT)

Notice
(1) The numeric data of all frames is displayed in ASCII code for hexadecimal values unless otherwise specified. The
items displayed in hexadecimal are as follows.
• Station number
• The command type supports R(read) and W(write).
• All contents of data
(2) For hexadecimal data, ‘H’ is prefixed to the number in the frame, as in H01, H12345, H34, H12, H89AB and etc.
to indicate that the data is hexadecimal.
(3) The available frame length is up to 44 bytes.
(4) The control codes used are summarized below.
Hex
Code Name Control contents
value
ENQ H05 Enquire Start code of request frame
ACK H06 Acknowledge Start code of ACK response frame
NAK H15 Not Acknowledge Start code of NAK response frame
EOT H04 End of Text Frame end ASCII code for request

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(2) Command frame sequence

 Command request frame sequence
Stati
Comma
EN on Formatted data BCC EOT
nd
Q No.
Stati
Comma
ACK on Formatted data BCC EOT
nd
No.
(Inverter ACK response)
Station Formatted
NAK Command BCC EOT
No. data
(Inverter NAK response)
2) List of commands
The command types used in the LS bus protocol are as follows.
Command
Division
Command type Processing contents

Item Symbol ASCII code

Continuous read R H52 Word-type inverter variables are read in word units.
Continuous write W H57 Word-type inverter variables are written in word units.

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15.9.2 Command Details

1) Inverter continuous write (W)
This command is used to directly specify addresses in inverter and write them in word units.
(1) LS Bus client request format
Format Station Comman Data Inverter Frame
Header Data ..... Tail
name No. d size address check
Frame(exa
ENQ H20 W H6 0100 H00E2 BCC EOT
mple)
ASCII code H05 H3230 H57 H36 H30313030 H30304532 ` H04

Division Descriptions

Only one low-order byte of the value obtained by adding one byte each to the ASCII value
BCC
excluding the values of ENQ and EOT is converted into ASCII and added to BCC.

The number of words to be written is specified. When converted to ASCII, it ranges from H01
Data size
(ASCII value: 3031) to H08 (ASCII value: 3038).

The inverter address to be read is entered. It should be ASCII value with 4 characters, and
Inverter address
only numbers are allowed.

If the value to be written in the inverter address 0100 area is H’A, the data format should be
Data
H000A.

• Usage example
If the data type to be written is WORD, and the data to be written is H1234, its ASCII code conversion value is
31323334, and this content should be contained in the data area. That is, the highest value is transmitted first, and
the lowest value should be transmitted for the last time.

Notice

• Only word is supported as a device data type.

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(2) Inverter response format(ACK response)

Station Comma
Format name Header Data Frame check Tail
No. nd
Frame(exampl
ACK H20 W H00E2 … BCC EOT
e)
ASCII value H06 H3230 H57 H30304532 H04

Division Descriptions
Only one low-order byte of the value obtained by adding one byte each to the ASCII value excluding the
BCC
values of ENQ and EOT is converted into ASCII and added to BCC.

(3) Inverter response format(NAK response)

Format Error code Frame
Header Station No. Command Tail
name (ASC2 Byte) check
Frame(exam
NAK H20 W H12 BCC EOT
ple)
ACSII value H15 H3230 H57 H3132 H04

Division Descriptions
Only one low-order byte of the value obtained by adding one byte each to the ASCII value excluding the
BCC
values of ENQ and EOT is converted into ASCII and added to BCC.
The types of errors are indicated by the contents of 1Byte in Hex (2 Byte in ASCII code).
Error code
Please refer to the error code of the inverter for details.

(4) Usage example

This example supposes that “H00FF” is written in 1230 of inverter station No. 1.

(a) XMC request format (XMC → inverter)

Format Station Comman Data
Header Inverter address Data Frame check Tail
name No. d length
Frame
ENQ H01 W H1 1230 H00FF BCC EOT
(example)
ASCII
H05 H3031 H57 H3031 H31323330 H30304646 H04
value

(b) ACK response after command execution (XMC ← inverter)

Format name Header Station No. Command Data Frame check Tail
Frame(example) ACK H01 W H00FF BCC EOT
ASCII value H06 H3031 H57 H30304646 H04

(c) NAK response after command execution (XMC ← inverter)

Format name Header Station No. Command Error code Frame check Tail
Frame(example) NAK H01 W H12 BCC EOT
ASCII value H15 H3031 H57 Error code(2 Byte) H04

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2) Inverter continuous read(R)

This function is to continuously read as much data as the specified amount from the designated address of the PLC device.

(1) PC request format

Format Station Comman Number of Frame
Header Inverter address Tail
name No. d data check
Frame
ENQ H10 R 0100 H5 BCC EOT
(example)
ASCII
H05 H3130 H52 H30313030 H35 H04
value

Division Descriptions
Only one low-order byte of the value obtained by adding one byte each to the ASCII value excluding
BCC
the values of ENQ and EOT is converted into ASCII and added to BCC.
The number of words to be written is specified. When converted to ASCII, it ranges from H01 (ASCII
Data size
value: 3031) to H08 (ASCII value: 3038).
The inverter address to be read is entered. It should be ASCII value with 4 characters, and only
Inverter address
numbers are allowed.

Notice

• Only word is supported as a device data type.

(2) Inverter response format(ACK response)

Format name Header Station No. Command Data Frame check Tail
Frame(example) ACK H20 R H00E2 … BCC EOT
ASCII value H06 H3230 H52 H30304532 H04

Division Descriptions
Only one low-order byte of the value obtained by adding one byte each to the ASCII value excluding the
BCC
values of ENQ and EOT is converted into ASCII and added to BCC.

(3) Inverter response format(NAK response)

Error code
Format name Header Station No. Command Frame check Tail
(ASC2 Byte)
Frame(example) NAK H20 R H12 BCC EOT
ACSII value H15 H3230 H52 H3132 H04

Division Descriptions
Only one low-order byte of the value obtained by adding one byte each to the ASCII value excluding the
BCC
values of ENQ and EOT is converted into ASCII and added to BCC.
The types of errors are indicated by the contents of 1Byte in Hex(2 Byte in ASCII code).
Error code
Please refer to the error code of the inverter for details

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(4) Usage example

This example supposes that data 1 word from 1230 of the inverter station No. 1 is read.

(a) XMC request format (XMC → inverter)

Format Station Comman
Header Inverter address Data size Frame check Tail
name No. d
Frame
ENQ H01 R 1230 H1 BCC EOT
(example)
ASCII
H05 H3031 H52 H31323330 H31 H04
value

(b) ACK response after command execution (XMC ← inverter)

Format name Header Station No. Command Data Frame check Tail
Frame(example) ACK H01 R H1234 BCC EOT
ASCII value H06 H3031 H52 H31323334 H04

(c) NAK response after command execution (XMC ← inverter)

Format name Header Station No. Command Error code Frame check Tail
Frame(example) NAK H01 R H12 BCC EOT
ASCII value H15 H3031 H52 H3132 H04

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15.10 Modbus Protocol

15.10.1 Modbus Communication Setting Procedures
Modbus protocol is a standardized open protocol used for communication between client and server, and it can
read/write data according to function code. The inter-device communication using the Modbus protocol uses client-
server function that is processed by only one client
Procedures for sending/receiving data to/from communication devices by using Modbus communication are shown
below.

Default Parameter Settings

P2P Channel Settings

P2P Parameter Settings

Writing P2P Parameters

Link Enable

15.10.2 Modbus Protocol

1) Protocol type
The communication modes of Modbus are divided into ASCII mode and RTU mode.

Characteristics ASCII mode RTU mode

Code system ASCII code 8-bit binary code
Number of Start bit 1 1
data per Data bit 7 8
character Parity bit Even, Odd, None Even, Odd, None
Stop bit 1 or 2 1 or 2
Error check LRC(Longitudinal Redundancy Check) CRC (Cyclical Redundancy Check)
Start of frame Colon (:) 3.5 character no-response time

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2) Protocol configuration
Modbus protocol is largely composed of PDU consisting of function code and data and ADU with the partner
station number and error check added to PDU.

station number function code data error check

The processing procedure for normal Modbus communication is shown below.

client server

esponse processing according to function

function code data request
code

response data function code data request

When a Modbus communication error occurs, the server sends a response that includes the error code to the
client as shown below.

client server

requested function code error detection

function code data request

response data error code exception code

When an abnormal frame is received, the server sends an error code and an exception code to the client. The
error code is represented by adding 80(Hex) value to the function code, and the exception code indicates the
details of the error. The contents for each code are shown below.

Code Code name Meaning

01 Function code error Function code error
02 Address error Address allowable range excess error
03 Data setting error Data value is not allowed
04 Server station error Server(slave)station is in error state

Requests the client to make a request again at a proper time because the
05 Retransmission request
content to be processed is too huge for the server to handle at the moment
The server station takes time to process. The master should make a
06 Processing time delay
request again.

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15.10.3 Frame Structure

1) Frame structure in ASCII mode

The frame structure in Modbus ASCII mode is shown below.

Function
Division Start Station No. Data Error check End
code
Size(byte) 1 2 2 N 2 2

(1) Characteristics of ASCII mode

(a) In ASCII mode, the start of a frame distinguished by a colon (:), which is a 1-byte ASCII code, and the end
of a frame by ‘CRLF’.
(b) It allows a maximum interval of 1 second between characters.
(c) The error checking method uses LRC to convert ASCII by taking two’ s complement to the sum of a fame
excluding the start/end of the frame to determine whether or not an error occurs.

(2) Address area

(a) It consists of 2 bytes.
(b) Station number can be set from 0 to 31 when using Cnet I/F.
(c) Station No. 0 is used as the client station number.
(d) The server responses with its own address in the response frame so that it can identify the client’s
response when it responds.

(3) Data area

(a) Data is transmitted using ASCII data, and the structure of data is changed according to each function code.
(b) It responds with response data in response to a normal frame
(c) Error code is used to respond when an abnormal frame is received.

(4) Error check area

(a) The error checking method uses LRC to convert ASCII by taking two’ s complement to the sum of a fame
excluding the start/end of the frame to determine whether or not an error occurs.

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2) Frame structure in RTU mode

The frame structure in Modbus RTU mode is shown below.

Function
Division Start Station No. Data Error check End
code
Size(byte) Idle time 1 1 N 2 Idle time

(1) Characteristics of RTU mode

(a) It communicates using hexadecimal numbers.
(b) The start character is the station number, and the end of a frame is distinguished by CRC error check.
(c) The start and end of the frame is distinguished by adding 1-bit idle time to the start and end of the frame.
(d) It has an interval of at least 3.5 character time between frames and recognizes the frame as an independent
frame when 1.5 character time passes between characters.

(2) Address area

(a) It consists of 1 byte.
(b) Station number can be set from 0 to 31 when using XGT Cnet I/F module.
(c) Station No. 0 is used as the client station number.
(d) The server responses with its own address in the response frame so that it can identify the client’s response
when it responds.

(3) Data area

(a) Data is transmitted using Hex data, and the data structure is changed according to each function code.
(b) It responds with response data in response to a normal frame
(c) Error code is used to respond when an abnormal frame is received.

(4) Error check area

(a) Two-byte CRC check method is used to determine whether the frame is normal or abnormal.

(5) Modbus address rule

(a) The address in the data starts from 0 and is equal to the value obtained by subtracting 1 from the Modbus
memory. That is, Modbus address 2 is the same as the address 1 in the data.

3) Representation of data and address

The characteristics of representing the data and address of Modbus protocol are as follows.
(1) Hexadecimal (Hex.) data is used as a default format.
(2) Hex data is converted into ASCII code and used in ASCII mode.
(3) Hex data is used in RTU mode.
(4) The meanings for each function code are summarized below.

Maximum response
Code(Hex) Use Usage area Address
data
01 Bit individual/continuous write Bit output 0XXXX 2000 bits
02 Bit individual/continuous read Bit input 1XXXX 2000 bits
03 Word individual/continuous read Word output 4XXXX 120 words
04 Word individual/continuous read Word input 3XXXX 120 words
05 Bit individual write Bit output 0XXXX 1 bit
06 Word individual write Word output 4XXXX 1 word
0F Bit continuous write Bit output 0XXXX 1968 bits
10 Word continuous write Word output 4XXXX 120 words

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4) Reading data of bit format in bit output area (01)

(1) Reading bit of output area(function code: 01)
The structure of request and response frame when reading the data of bit format in output area is as follows.
The tail of frame is applied only in ASCII code.

(a) Request frame

Station Function Frame error
Frame Address Data size Tail(CRLF)
No. code(01) check
Size(byte) 1 1 2 2 2 2

(b) Response frame (when receiving a normal frame)

Station Function Number of Frame check
Frame Data Tail(CRLF)
No. code(01) bytes error
Size(byte) 1 1 1 N 2 2

(c) Response frame (when receiving an abnormal frame)

Frame Station No. Error code Exception code Tail(CRLF)
Size(byte) 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the bits of output area.
(b) Function code: ‘01’ means bit continuous/individual reading of output area.
(c) Address: It means the start address of data to be read and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Data size: It is the size of data to read and consists of 2 bytes.
(e) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of
STU mode and consists of 2 bytes.
(f) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(g) Number of bytes: It means the number of bytes of data that responds.
(h) Data: It is sent in byte units with the address of request frame as the start address.
(i) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 81(Hex)
for the bit reading of output area.
(j) Exception code: It means the detailed error description and consists of 1 byte.

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(3) Frame example

This is an example of reading bits from 20 to 38 in server station No. 1 that operates in Modbus RTU mode.

(a) Request frame

Address Data size
Station Function
Division High-order Low-order High-order Low-order Error check
No. code
byte byte byte byte
Frame 01 01 00 13 00 13 CRC

(b) Response frame (when receiving a normal frame)

Station Functio Number of
Division Data Error check
No. n code bytes
Frame 01 01 03 12 31 05 CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check

Frame 01 81 02 CRC

5) Reading data of bit type in bit input area (02)

(1) Bit reading of input area

The structures of request and response frames when reading the bit-type data of input area are as follows.
The tail of the frame is applied only in the case of ASCII mode.

(a) Request frame

Station Function
Division Address Data size Frame error check Tail(CRLF)
No. code(02)
Size(byte) 1 1 2 2 2 2

(b) Response frame (when receiving a normal frame)

Station Function Number of
Division Data Frame error check Tail(CRLF)
No. code(02) bytes
Size(byte) 1 1 1 N 2 2

(c) Response frame (when receiving an abnormal frame)

Exception
Division Station No. Error code Tail(CRLF)
code
Size(byte) 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the bits of input area.
(b) Function code: ‘02’ means bit continuous/individual reading of input area.
(c) Address: It means the start address of data to be read and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Data size: It is the size of data to read and consists of 2 bytes.
(e) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case
of STU mode and consists of 2 bytes.
(f) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(g) Number of bytes: It means the number of bytes of data that responds.

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(h) Data: It is sent in byte units with the address of request frame as the start address.
(i) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 82(Hex) for
the bit reading of output area.
(j) Exception code: It means the detailed error description and consists of 1 byte.

(3) Frame example

This is an example of reading bits from 20 to 28 in server station No. 1 that operates in Modubus RTU mode.

(a) Request frame

Stati Address Data size
Functio
Division on High-order Low-order High-order Low-order Error check
n code
No. byte byte byte byte
Frame 01 02 00 13 00 13 CRC

(b) Response frame (when receiving a normal frame)

Function Number of
Division Station No. Data Error check
code bytes
Frame 01 02 03 12 31 05 CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check
Frame 01 82 02 CRC

6) Reading data of word type in word output area (03)

(1) Word reading of output area
The structures of request and response frames when reading the word-type data of the output area are as follows.
The tail of the frame is applied only in the case of ASCII mode.
(a) Request frame
Division Station No. Function code(03) Address Data size Frame error check Tail(CRLF)
Size(byte) 1 1 2 2 2 2

(b) Response frame (when receiving a normal frame)

Number of
Division Station No. Function code(03) Data Frame check error Tail(CRLF)
bytes
Size(byte) 1 1 1 N*2 2 2

(c) Response frame (when receiving an abnormal frame)

Division Station No. Error code Exception code Tail(CRLF)
Size(byte) 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the word type data of output area.
(b) Function code: ‘03’ means word continuous/individual reading of input area.
(c) Address: It means the start address of data to be read and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Data size: It is the size of data to read and consists of 2 bytes.
(e) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of STU
mode and consists of 2 bytes.
(f) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(g) Number of bytes: It means the number of bytes of data that responds.

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(h) Data: It is sent in byte units with the address of request frame as the start address, when the data is word
type, so its size is the same as twice the number of bytes..
(i) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 83(Hex) for the
bit reading of output area.
(j) Exception code: It means the detailed error description and consists of 1 byte.

(3) Frame example

This is an example of reading the data of word type from 108 to 110 in server station No. 1 that operation in
Modbus RTU mode.
(a) Request frame
Address Data size
Station Function Error
Division High-order Low-order High-order Low-order
No. code check
byte byte byte byte
Frame 01 03 00 6B 00 03 CRC

(b) Response frame (when receiving a normal frame)

Station Function Number
Division Data Error check
No. code of bytes
Frame 01 03 06 13 12 3D 12 40 4F CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check
Frame 01 83 04 CRC
7) Reading data of word type in word input area (04)
(1) Word reading of input area
The structures of request and response frames when reading the word-type data of input area are as follows.
The tail of the frame is applied only in the case of ASCII mode.
(a) Request frame
Station Function
Division Address Data size Frame error check Tail(CRLF)
No. code(04)
Size(byte) 1 1 2 2 2 2

(b) Response frame (when receiving a normal frame)

Station Function Number of
Division Data Frame error check Tail(CRLF)
No. code(04) bytes
Size(byte) 1 1 1 N*2 2 2

(c) Response frame (when receiving an abnormal frame)

Exception
Division Station No. Error code Tail(CRLF)
code
Size(byte) 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the word type data of input area.
(b) Function code: ‘04’ means word continuous/individual reading of input area.
(c) Address: It means the start address of data to be read and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Data size: It is the size of data to read and consists of 2 bytes.
(e) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of
STU mode and consists of 2 bytes.

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(f) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(g) Number of bytes: It means the number of bytes of data that responds.
(h) Data: It is sent in byte units with the address of request frame as the start address, when the data is word
type, so its size is the same as twice the number of bytes.
(i) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 84(Hex) for
the bit reading of output area.
(j) Exception code: It means the detailed error description and consists of 1 byte

(3) Frame example

This is an example of reading the data of word type stored in the input area No. 9 of server No. 1
that operates in Modbus RTU mode.

(a) Request frame

Stati Address Data size
Functio
Division on High-order Low-order High-order Low-order Error check
n code
No. byte byte byte byte
Frame 01 04 00 08 00 01 CRC

(b) Response frame (when receiving a normal frame)

Station Function Number
Division Data Error check
No. code of bytes
Frame 01 04 02 00 0A CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check
Frame 01 84 04 CRC
8) Individual writing of bit-type data in bit output area (05)
(1) Bit individual writing of output area
The structures of request and response frames when writing data of bit type in output area are as follows.
The tail of the frame is applied only in the case of ASCII mode.
(a) Request frame
Function Output Frame error
Division Station No. Address Tail(CRLF)
code(05) value check
Size(byte) 1 1 2 2 2 2

(b) Response frame (when receiving a normal frame)

Function Output Frame error
Division Station No. Address Tail(CRLF)
code(05) value check
Size(byte) 1 1 2 2 2 2

(c) Response frame (when receiving an abnormal frame)

Exception
Division Station No. Error code Tail(CRLF)
code
Size(byte) 1 1 1 2
(2) Frame details
(a) Station number: It means the station number of the slave to read the bit type data of input area.
(b) Function code: ‘05’ means bit continuous/individual reading of input area.
(c) Address: It means the start address of data to be written and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Output value: It is the bit value of address set in the address operates On, it is indicated by FF00(Hex),
whereas if it operates Off, it is indicated by 0000(Hex).

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(e) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of STU
mode and consists of 2 bytes.
(f) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(g) Number of bytes: It means the number of bytes of data that responds.
(h) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 85(Hex) for
the bit reading of output area.
(i) Exception code: It means the detailed error description and consists of 1 byte.

(3) Frame example

This is an example of turning the 9th bit of the output area On in server station No. 1 that operates Modbus RTU mode.
(a) Request frame
Stati Address Output value
Functio
Division on High-order Low-order High-order Low-order Error check
n code
No. byte byte byte byte
Frame 01 05 00 08 FF 00 CRC

(b) Response frame (when receiving a normal frame)

Stati Address Output value
Functio
Division on High-order Low-order High-order Low-order Error check
n code
No. byte byte byte byte
Frame 01 05 00 08 FF 00 CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check
Frame 01 85 04 CRC
9) Individual writing of word-type data in word output area (06)
(1) Word individual writing of output area
The structures of request and response frames when writing data of word type in output area are as follows.
The tail of the frame is applied only in the case of ASCII mode.
(a) Request frame
Station Function Output Frame error
Division Address Tail(CRLF)
No. code(06) value check
Size(byte) 1 1 2 2 2 2

(b) Response frame (when receiving a normal frame)

Station Function Frame error
Division Address Output value Tail(CRLF)
No. code(06) check
Size(byte) 1 1 2 2 2 2

(c) Response frame (when receiving an abnormal frame)

Exception
Division Station No. Error code Tail(CRLF)
code
Size(byte 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the word type data of input area.
(b) Function code: ‘06’ means word continuous/individual reading of input area.
(c) Address: It means the start address of data to be written and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Output value: It means the data value to be written in address set in the address.
(e) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of

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STU mode and consists of 2 bytes.

(f) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(g) Number of bytes: It means the number of bytes of data that responds.
(h) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 86(Hex)
for the bit reading of output area.
(i) Exception code: It means the detailed error description and consists of 1 byte.

(3) Frame example

This is an example of writing 0003(hex) in the 9th output area of word type in server station No. 1 that operates
in Modbus RTU mode.
(a) Request frame
Stati Address Output value
Functio
Division on High-order Low-order High-order Low-order Error check
n code
No. byte byte byte byte
Frame 01 06 00 08 00 03 CRC

(b) Response frame (when receiving a normal frame)

Stati Address Output value
Functio
Division on High-order Low-order High-order Low-order Error check
n code
No. byte byte byte byte
Frame 01 06 00 08 00 03 CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check
Frame 01 86 02 CRC

10) Continuous writing of bit-type data in bit output area (0F)

(1) Bit continuous writing of output area
The structures of request and response frames for continuous writing of bit-type data in output area are as follows.
The tail of the frame is applied only in the case of ASCII mode.
(a) Request frame
Function Number Frame
Station Output
Division code Address of Data size error Tail(CRLF)
No. value
(0F) outputs check
Size(byte) 1 1 2 2 1 N 2 2

(b) Response frame (when receiving a normal frame)

Number
Station Function Frame error
Division Address of Tail(CRLF)
No. code(0F) check
outputs
Size(byte) 1 1 2 2 2 2

(c) Response frame (when receiving an abnormal frame)

Exception
Division Station No. Error code Tail(CRLF)
code
Size(byte) 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the bit type data of input area.
(b) Function code: ‘0F’ means bit continuous/individual reading of input area.
(c) Address: It means the start address of data to be written and consists of 2 bytes, when the start address
conforms to the Modbus address rule.

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(d) Number of outputs: It means the number of data to be written and consist of 2 bytes. Example)
If the address writes 10 data consecutively from No. 20, the number of outputs is 00A (Hex).
(e) Data size: The number of outputs is represented by a byte value. That is, if the data size is 1, the number
of continuous write data is 8. Example) When 10 consecutive bits of data is written, the data size is 2.
(f) Output value: It means the data value to be written in address set in the address.
(g) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of
STU mode and consists of 2 bytes.
(h) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(i) Number of bytes: It means the number of bytes that responds.
(j) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 8F(Hex)
for the bit reading of output area.
(k) Exception code: It means the detailed error description and consists of 1 byte.

(3) Frame example

This is an example of writing 10 consecutive bit values from the 20th address in the server No. 1 that operates in Modbus
RTU mode.

Example) Data value to be continuously written

Bit value 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1
Hex C D 0 1
Address 27 26 25 24 23 22 21 20 - - - - - - 29 28

(a) Request frame

Number of
Address Output value
Statio Function outputs Data Error
Division Low- High- Low- High- Low-
n No. code High-order size check
order order order order order
byte
byte byte byte byte byte
Frame 01 0F 00 13 00 0A 02 CD 01 CRC

(b) Response frame (when receiving a normal frame)

Address Number of outputs
Station Error
Division Function code High-order Low-order High-order Low-order
No. check
byte byte byte byte
Frame 01 04 00 13 00 0A CRC

(c) Response frame (when receiving an abnormal frame)

Division Station No. Function code Exception code Error check
Frame 01 8F 01 CRC

11) Continuous writing of word-type data in word output area (10)

(1) Word continuous writing of output area
The structures of request and response frames for continuous writing of word-type data in output area are as follows.
The tail of the frame is applied only in the case of ASCII mode.

(a) Request frame

Number Frame
Station Function Data Output
Division Address of error Tail(CRLF)
No. code(10) size value
outputs check
Size(byte) 1 1 2 2 1 N*2 2 2

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(b) Response frame (when receiving a normal frame)

Function Number of Frame error
Division Station No. Address Tail(CRLF)
code(10) outputs check
Size(byte) 1 1 2 2 2 2

(c) Response frame (when receiving an abnormal frame)

Exception
Division Station No. Error code Tail(CRLF)
code
Size(byte) 1 1 1 2

(2) Frame details

(a) Station number: It means the station number of the slave to read the bit type data of input area.
(b) Function code: ‘10’ means bit continuous/individual reading of input area.
(c) Address: It means the start address of data to be written and consists of 2 bytes, when the start address
conforms to the Modbus address rule.
(d) Number of outputs: It means the number of data to be written and consist of 2 bytes. Example) If the address
writes 10 data consecutively from No. 20, the number of outputs is 00A (Hex).
(e) Data size: The number of outputs is represented by a byte value. That is, if the data size is 1, the number of
continuous write data is 8.
Example) When 10 consecutive bits of data is written, the data size is 2.
(f) Output value: It means the data value to be written in address set in the address.
(g) Frame error check: It uses LRC in the case of ASCII mode or CRC error check method in the case of STU
mode and consists of 2 bytes.
(h) Tail: It is applied only in the case of ASCII mode, and CRLF is added after LRC.
(i) Number of bytes: It means the number of bytes that responds
(j) Error code: It is represented by adding 80 (Hex) values to the function code and transmitted in 90(Hex) for the
bit reading of output area.
(k) Exception code: It means the detailed error description and consists of 1 byte.

(3) Frame example

This is an example of writing 2 consecutive words from the 20th address in the server station No. 1 that operates in
Modbus RTU mode.

Example) Data value to be continuously written

Hex C D 0 1 0 0 0 A
Address 20 21

(a) Request frame

Number of
Functi Address
Station outputs Data Error
Division on High- Low- High- Low- Output value
No. size check
code order order order order
bit bit byte byte
Frame 01 10 00 13 00 02 04 CD 01 00 0A CRC

(b) Response frame (when receiving a normal frame)

Address Number of outputs
Functio Error
Division Station No. High-order Low-order High-order Low-order
n code check
byte byte byte byte
Frame 01 10 00 13 00 02 CRC

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(c) Response frame (when receiving an abnormal frame)

Division Station No Function code Exception code Error check
Frame 01 90 01 CRC

15.10.4 Modbus server

This is used when the external device that is trying to communicate operates as a Modbus client. It supports both ASCII
mode and RTU mode of Modbus, each operation mode can be set in [Basic setting] window.

1) How to use a Modbus ASCII Server

(1) Connection setup

(a) Select [Online] → [Connection Settings] or click the icon ( ).

(b) Set connection options for your environment and click [Connect].

(2) Default setting

(a) Double-click the serial communication module in the project window to launch the [Preferences] window
and set the connection. Set the communication type, communication speed, data bit, stop bit, and station
number in the menu.
(b) The delay time can be set only when RS-485 is used, and the response wait time can be set only when
using P2P as the operation mode in RS-485 communication.

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(3) Select operating mode

Select the Modbus ASCII server
(4) Modbus settings
(a) When the Modbus ASCII server is selected as the operation mode, [Modbus setting] becomes active.
(b) Bit Read Area Start Address: Indicates the start address of the bit read area and consists of 5 digits.
The first four digits represent the word value, and the remaining digits represent the bit value.
Ex) IX0.0.0: I Device area 0-th bit of 0th word is set as start address of bit read area.
(c) Bit Write Area Start Address: Indicates the start address of the bit write area and consists of 5 digits.
The first four digits represent the word value, and the remaining digits represent the bit value.
Ex) QX0.0.0: The 0th bit of the tenth word of the Q device area is set as the start address of the bit read area.
(d) Word read area start address: It indicates the start address of the word read area and consists of 4 digits.
Ex) The 0th word of MW0: M device area is set as the start address of the word read area.
(e) Word write area start address: It is the start address of the word write area and consists of 4 digits.
Ex) MW100: It is the case that the 100th word of the M device area is set as the start address of the word write area.

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(5) Write parameters

(a) Select [Online] → [Write] or click the icon ( ).

(b) Check ( ) the module with the default settings and click [OK].
(c) Click the [OK] button, and when the parameter writing finishes, reset each module.

(6) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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2) How to use a Modbus RTU Server

(1) Connection setup

(a) Select [Online] → [Connection Settings] or click the icon ( ).

(b) Set connection options for your environment and click [Connect].

(2) Default setting

(a) Double-click the serial communication module in the project window to launch the [Preferences] window
and set the connection. Set the communication type, communication speed, data bit, stop bit, and station
number in the menu.
(b) The delay time can be set only when RS-485 is used, and the response wait time can be set only when
using P2P as the operation mode in RS-485 communication.

(3) Select operating mode

Select the Modbus ASCII server

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(4) Modbus settings

(a) When the Modbus ASCII server is selected as the operation mode, [Modbus setting] becomes active.
(b) Bit Read Area Start Address: Indicates the start address of the bit read area and consists of 5 digits.
The first four digits represent the word value, and the remaining digits represent the bit value.
Ex) IX0.0.0: I Device area 0-th bit of 0th word is set as start address of bit read area.
(c) Bit Write Area Start Address: Indicates the start address of the bit write area and consists of 5 digits.
The first four digits represent the word value, and the remaining digits represent the bit value.
Ex) QX0.0.0: The 0th bit of the tenth word of the Q device area is set as the start address of the bit read area.
(d) Word read area start address: It indicates the start address of the word read area and consists of 4 digits.
Ex) The 0th word of MW0: M device area is set as the start address of the word read area.
(e) Word write area start address: It is the start address of the word write area and consists of 4 digits.
Ex) MW100: It is the case that the 100th word of the M device area is set as the start address of the word write area.

(5) Write parameters

(d) Select [Online] → [Write] or click the icon ( ).

(e) Check ( ) the module with the default settings and click [OK].
(f) Click the [OK] button, and when the parameter writing finishes, reset each module.

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(6) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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15.10.5 Modbus RTU / ASCII client

1) Default setting

(1) Connection setup

(a) Select [Online] → [Connection Settings] or click the icon ( ).

(b) Set connection options for your environment and click [Connect].

(2) Default setting

(a) Double-click the serial communication module in the project window to launch the [Preferences] window
and set the connection. Set the communication type, communication speed, data bit, stop bit, and station
number in the menu.
(b) The delay time can be set only when RS-485 is used, and the response wait time can be set only when
using P2P as the operation mode in RS-485 communication.

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(3) Select operating mode

When using as a client, be sure to select 'Use P2P'.

(4) P2P channel setting

(a) Double-click the P2P channel to select the protocol for each channel.
(b) The P2P driver supports user frame definition, XGT client, LS bus client, and Modbus RTU / ASCII client.

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2) P2P Parameter setting

Operation in the Modbus RTU/ASCII client is divided into the Read command used to read and store the arbitrary
area of the other station and the Write command written in the arbitrary area of the other station. The setting method
of Modbus RTU client and Modbus ASCII client is the same as shown below.

Numb Classificati
Block type Meaning
er on

1 Channel The set drive name changes according to the driver set in P2P driver

P2P 1. Read: Used to read arbitrary data from the other station
2
function 2. Write: Used to write arbitrary data to the other station

1. Enter special flag or bit contact to select the time when data is
Start
3 transmitted and received
condition
2. Example: _T20MS(cycle: 20ms), %MX0(when MX0 is On)

1.Individual: Used to read or write data of up to 4 memory areas to the

other station(Example: M01, M10, M20, M30)
4 Mode
2.Continuous: Used to read or write continuous data to the other station
(Example: M01~M10)

5 Data type Data types can be selected among bits and words

▷It defines data size to be transmitted and received and is enabled only
in continuous mode.
1. If the P2P function is Read
1) Modbus RTU client
(1)Bit type: 1~2000
(2)Word type: 1~120
2) Modbus ASCII client
(1)Bit type: 1~976
6 Data size
(2)Word type: 1~61
2. If the P2P function is Write
1) Modbus RTU client
(1)Bit type: 1~1968
(2)Word type: 1~120
2) Modbus ASCII client
(1)Bit type: 1~944
(2)Word type: 1~120

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Numb Classificati
Block type Meaning
er on

Partner It is checked automatically. If you do not use the block, click it once
7
station more, otherwise the block will not work.

Partner
1. It means the station number of the partner station.
8 station
1) Modbus: A total of 256 station numbers can be set from 0 to 255.
number

▶If the P2P function is Read

1.Read area: Data area start address of the partner station(server)
1)Bit: Bit input(0x10000), bit output(0x00000)
2)Word: Word input(0x30000), word output(0x40000)
2.Storage area: Data storage area of its station(client)

Settings
9

▶If the P2P function is Write

1.Read are: Data area of its station
2.Storage area: Data storage area start address of the other station
1)Bit: Bit input(0x10000), bit output(0x00000)
2)Word: Word input(0x30000), word output(0x40000)

3) Writing P2P parameters

(1) Writing P2P parameters

(a) Select [Online] → [Write] or click the icon ( ).

(b) Check ( ) the module with the default settings and click [OK].
(c) Click the [OK] button, and when the parameter writing finishes, reset each module.

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(2) Link Enable

(a) Select [Online] → [Communication module settings] → [Link enable].
(b) Check the set P2P block and click Write.

(3) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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15.10.6 Frame monitor

With the frame monitor function of XG5000, you can check the frame that client and server actually send and receive.

(1) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.

(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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(2) Frame monitor

(a) Select the channel you want to monitor.
(b) When the protocol is in Modbus ASCII mode, select View as ASCII.
(c) Select Hex View when the protocol is in Modbus RTU mode.
(d) Click [Start] to check the sending / receiving frame.

Items Contents Remarks

Base No. Base position of the communication module being monitored

Basic information
Slot No. Slot position of the communication module being monitored
Channel
Monitor option Select the channel to monitor
selection
Type Indicate the transmission frame and reception frame
Indicate the protocol type currently being used
1) XGT server
2) XGT client
Processed
3) Modbus server
results
Frame monitor 4) Modbus client
window 5) User defined
6) Unknown: Frame that cannot be processed
Size Length of the monitored frame
Time Display the point of time for transmission/reception
Frame data Display the data of transmitted/received frame

View in HEX Display the frame data with HEX values

View in ASCII Display the frame data with ASCII values

Saved in CSV
Save file Save the frame monitoring contents to a file
format
Start Start of the frame monitoring operation

Stop Stop the monitoring status

Close Close the frame monitor window

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15.11 User Defined Communication Service

15.11.1 Summary
Because there are many kinds of communication protocols, it is actually impossible to mount all protocols in one
communication module. Therefore, to solve this problem, XMC built-in Cnet provides user frame definition
communication function. When this function is used, when connecting with other devices that do not use XGT protocol
or Modbus protocol, users can create and communicate the protocol for their own use. At this time, the user must
send frame and receive frame in the same way as the protocol of the external device to send / receive data.

transmission frame data reception

user-defined protocol

reception frame data transmission

user-defined protocol

Follow the procedure below when using user frame definition communication.

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15.11.2 User-defined frame configuration

When a frame is created using the user-defined communication, the frame is largely divided into a head which
indicates the beginning of the frame, a tail indicating the end, and a body, which is a data area. The head, tail and
body are composed of each segment. In addition, the total size of one frame should be less than 1024 bytes.

Frame
HEAD BODY TAIL
Segment 1 Segment 1 Segment 1
Segment 2 Segment 2 Segment 2
Segment 3 Segment 3 Segment 3
Segment N Segment N Segment N

(1) Head configuration

The input types of the segments composed of the head are largely divided into numerical constants and string
constants. The numerical constant is expressed as a hexadecimal value, and the string constant means an
ASCII character.
(2) Tail configuration
The input types of the segments that consist of the tail include numerical constants, string constants and BCC
to check frame errors. The meaning of the numerical constant and string constant is the same as that used in
the head. The BCC is a segment used to check errors in the transmission and reception frames, and only one
can be set in the tail.

a) BCC error check

The meaning of the numerical constant and string constant is the same as that used in the head. The BCC is
a segment used to check errors in the transmission and reception frames, and only one can be set in the tail. If
BCC is set, BCC operation is performed for the transmission/reception frame according to the setting method.
If the operation results are different, the corresponding frame is ignored. In this way, it serves as a means for
improving the reliability of communication. The error checking methods of each BCC are shown below.
Classification BCC method Descriptions
Use the low-order byte value of the result obtained by adding the data of the specified area
Byte SUM
in 1-byte unit
Use the low-order word value of the result obtained by adding the data of the specified area
Word SUM
in 1-word unit
Use the low-order byte of Exclusive OR result of the data of the designated area in 1-byte
Byte XOR
General- unit
purpose 7 bit SUM Use values except for the most significant bit of the byte SUM result value
communication 7 bit XOR Use values except for the most significant bit of the byte XOR result value
error detection 7 bit SUM#1 Add 20H if the 7bit SUM result value is less than 20H
method Byte SUM 2’S COMP Take 2’s complement with respect to the byte SUM result
Byte SUM 1’S COMP Take 1’s complement with respect to the byte SUM result
CRC 16 16 bit CRC error detection method
CRC 16 IBM 16 bit IBM CRC error detection method
CRC 16 CCITT 16 bit CCITT CRC error detection method
MODBUS LRC MODBUS LRC error detection method
Dedicated LGIS CRC Error detection method used in LGIS PLC
communication DLE AB Error detection method of Allen Bradley’s DF1 Protocol
error detection
DLE SIEMENS Error detection method used in Siemens 3964R communication
method

In BCC settings, if BCC calculation method is classified as a dedicated communication method, there is no
need to set BCC setting range and display method. On the other hand, it is classified as a general-purpose
communication method, BCC setting range and display method should be set.

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Item Contents
Area Specify where to start BCC calculation from head/body/tail
Start
Specify the segment position to start BCC calculation within the head/body/tail. 0 is included in the BCC
position Segment
calculation from the beginning of the frame
Before BCC Included in the calculation from start position to before BCC
End
End of are Included in the calculation from start position to the end of the specified area
position
Setting Included in the calculation from start position to the specified area segment position
ASCII conversion Convert result values to ASCII characters, the size increases two times.
Initial value 0 The initial value of BCC calculation can be set to 0. If not specified, FFH becomes the initial value.

(3) Body configuration

The input types of segments that make up the body vary depending on the transmission and reception.
In the case of transmission, numerical and string constants are classified as variable size parameters, and the
meaning of the numerical constant and the string constant is the same as that of the head.

a) Variable size parameters (in the case of reception frame)

The part of the frame that changes in size and content is defined as a variable size parameter segment. The
variable size parameter can be set only for the body. In addition, unlike other segments, the additional segment
cannot be set after the variable size parameter segment. When the variable size segment is used, there
should be head or tail. If you register a frame only with the variable size parameter without head or tail, there
is a possibility of error when receiving the frame depending on communication situation. Be sure to set head
or tail for reliable communication. Even if the variable size parameter is used in the transmission frame, the
function and characteristics are the same as those of the fixed size parameter of the reception because the
size of the variable size parameter is specified in the P2P block settings.
b) Fixed size parameters (in the case of reception frame)
The part that changes in reception although the size is fixed is defined as a fixed size parameter segment. It
can be set only in the body. In the case of the fixed size parameter, up to 4 parameters can be set in one body.

The specifications of the transmission and reception frames supported in the user-defined communication of
Cnet I/F are summarized below.
Group Frame Segment Remarks
Numerical constant Max. 10 bytes
HEAD
String constant Max. 10 bytes
Numerical constant Max. 10 bytes
Transmission TAIL String constant Max. 10 bytes
frame BCC Only one BCC applicable
Numerical constant Max. 10 bytes
BODY String constant Max. 10 bytes
Variable size parameter Up to 4 available
Numerical constant Max. 10 bytes
HEAD
String constant Max. 10 bytes
Numerical constant Max. 10 bytes
TAIL String constant Max. 10 bytes
BCC Only one BCC applicable
Reception Numerical constant Max. 10 bytes
frame String constant Max. 10 bytes
Up to 4 can be set
Fixed size parameter 3 fixed size parameters and 1 variable size
BODY
parameter available
Only one variable size parameter can be set.
Variable size parameter Impossible to add segment after variable size
parameter

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15.11.3 Create Frame

1) Channel settings
Cnet I/F can define the driver type for P2P service. However, if the P2P channel operates in the user frame definition,
the operation mode of the default setting should be defined as P2P use.

2) Creating transmission frame

The frame is largely divided into a head which indicates the beginning of the frame, a tail indicating the end, and a
body, which is a data area. The method for creating the transmission frame is shown below.
Order Setting contents Setting method

User frame creation

1

1. Select user frame definition.

2. Click the right mouse button and select Add Group.

Frame generation

1. The group name is the name of the frame a user wants to create.
2. Select transmission as a frame type because the transmission frame needs to be created at present.

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Order Setting contents Setting method

Frame generation

1. Check frame generation.

2. Select the frame name and click the right mouse button.
3. Click Add Frame to create header, tail and body in the generated frame.
4. Edit Group: Used to change the frame name
5. Delete Group: Used to delete a frame.

HEAD,TAIL,BODY
generation

1. Click Add Frame and then select the type of frame to be created.
2. Type: HEAD,TAIL,BODY
3. Select HEAD.
4. Repeat the above process (No.3) to create tail and body.
5. The name of the frame editing window is enabled only when the type is BODY.
6. Multiple bodies can be created with different names.

HEAD registration

1. Double click HEAD to create an editor screen.

2. Double click the editor screen or click the right mouse button to select Add Segment.
5 3. Select the type.
1) Numerical constant
(1) Define the fixed part of the frame as a constant
(2) The value of data item is Hex(hexadecimal)
2) String constant
(1) Register string constant in frame
(2) The value of data item is ASCII
4. Enter a value in data.
Example) Type: numerical constant
Data: 5(ENQ)
*You can edit, delete, insert and copy the segment by clicking the right mouse button
in the generated segment .

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Order Setting contents Setting method

1. Double click TAIL to create an editor screen.
6 TAIL registration 2. The setting method is the same as that in the above process (No. 5).
3. Adding BCC is possible after the segment is created in the editor screen.

BODY registration

1. Double click BODY to enable the editor screen and select the data type.
1) The meaning of numerical and string constants is the same as that in the header registration.

7 2) Variable type parameter

(1) Used to vary the length of the frame
(2) Up to 4 parameters can be set in one body
(3) Memory specification is automatically checked
(4) Control by byte

3)Conversion
▶Hex To ASCII: Convert the data read from the PLC memory into ASCII to configure the transmission frame
▶ASCII To Hex: Convert the data read from the PLC memory into Hex to configure the transmission frame
1) 4) Swap
▶2 byte swap: 2-byte swap of the data value (Example: 0x1234->0x3412)
▶4 byte swap: 4-byte swap of the data value (Example: 0x12345678->0x78564321
▶8 byte swap: 8-byte swap of the data value

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3) Creating reception frame

Order Setting contents Setting method

User frame creation

1

1. Select user frame definition.

2. Click the right mouse button and select Add Group.

Frame generation
2

1. The group name is the name of the frame a user wants to create.
2. Select reception as a frame type because the reception frame needs to be created at present

Frame generation

1. Check frame generation.

2. Select the frame name and click the right mouse button.
3. Click Add Frame to create header, tail and body in the generated frame.
4. Edit Group: Used to change the frame name
5. Delete Group: Used to delete a frame.

HEAD,TAIL,BODY
generation

4
1. Click Add Frame and then select the type of frame to be created.
2. Type: HEAD,TAIL,BODY
3. Select HEAD.
4. Repeat the above process (No.3) to create tail and body.
5. The name of the frame editing window is enabled only when the type is BODY.
6. Multiple bodies can be created with different names.

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Order Setting contents Setting method

HEAD registration

5
1. Double click HEAD to create an editor screen.
2. Double click the editor screen or click the right mouse button to select Add Segment.
3. Select the type.
1) The meaning of each type is the same as that of the head registration shown in
No. 5 in writing transmission frame.
4. Enter a value in data.

1. Double click TAIL to create an editor screen.

6 TAIL registration 2. The setting method is the same as that in the above process (No. 5).
3. Adding BCC is possible after the segment is created in the editor screen.

BODY registration

1. Double click BODY to enable the editor screen and select the data type.
1) The meaning of numerical and string constants is the same as that in the header registration.
2) Variable type parameter
(1) Used in cases where the length of the frame varies
(2) One variable size parameter can be set, and segment cannot be added
7 when the variable size parameter is set
(3) Possible to save data in PLC memory when checking Specify Memory
(4) Control by byte
3) Fixed size parameter
(1) Used if the frame length is fixed to a certain size
(2) Up to 4 parameters can be set in one body
(3) Possible to save data in PLC memory when checking Specify Memory
4) Specify Memory: Checked when the device area to be saved in PLC is set.
5) Conversion
▶Hex To ASCII: Convert the received data into ASCII to configure the reception frame
▶ASCII To Hex: Convert the received data into Hex to configure the reception frame
6) Swap
▶2 byte swap: 2-byte swap of the data value (Example: 0x1234->0x3412)
▶4 byte swap: 4-byte swap of the data value (Example: 0x12345678->0x78564321
▶8 byte swap: 8-byte swap of the data value

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4) Parameter settings
In order to transmit and receive data by using the transmission and reception frames created through the user frame
definition in P2P view of XG5000, you should set parameters through P2P block. The parameter setting method is
shown below.

Num Classific
Block type Meaning
ber ation

1 Channel The set drive name changes according to the driver set in P2P driver.

1. Receive: Used to receive arbitrary data by using a frame created

P2P according to the protocol of the partner station
2
function 2. Send: Used to send arbitrary data by suing a frame created according
to the protocol of the partner station.

1. Enter special flag or bit contact and select the point of time when data is
transmitted and received.
Start
3 2.In the user frame definition, it is enabled only when the P2P function is
condition
Send.
3. Example) _T20MS(cycle: 20ms),%MX01

1. I f Send is selected in the P2P function, select the body of the

transmission frame created in the user frame.
4 Frame
1. If RECEIVE is selected in the P2P function, select the body of the
reception frame created in the user frame.

1. The setting in the P2P block of the user frame definition can be done
only when Specify Memory of the fixed size parameter and variable size
5 Settings parameter created by a user is checked.
2. Storage area: It means the firs address of the area to store data received
from the other station.

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5) Writing parameters

(1) Writing parameter

(a) Select [Online] → [Write] or click the icon ( ).

(b) Check ( ) the module with the default settings and click [OK].
(c) Click the [OK] button, and when the parameter writing finishes, reset each module.

(2) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

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15.11.4 Frame monitor

With the frame monitor function of XG5000, you can check the frame that client and server actually send and receive.

(1) Check operation

(a) Select [Online] → [Communication Module Settings] → [System Diagnosis] or click the icon ( ).
(b) Click the communication module whose status you want to diagnose and press the right mouse button.
(c) When the following screen appears, click [Frame Monitor] or [Service Status] to check the operation status.

(2) Frame monitor

(a) Select the channel you want to monitor.
(b) When the protocol is in Modbus ASCII mode, select View as ASCII.
(c) Select Hex View when the protocol is in Modbus RTU mode.
(d) Click [Start] to check the sending / receiving frame.

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15.11.5 User-defined communication commands

(1) SEND_UDATA

Function block Descriptions

Input REQ :Function block is executed(pulse

operation) if 0 -> 1
BASE : Base
SLOT : Slot
CH : Channel(1 or 2)
DATA :Data area to send
SIZE : Data size to send

Output DONE :1 is displayed when executed without error

STAT : Status information

a) Functions
- This command is used to transmit user-defined data (hereafter referred to as DATA).
- For BASE and SLOT, enter the base and slot number on which the current CNET module is mounted.
- CH means channel number, and only 1 or 2 should be set.
- DATA should be declared as ARRAY OF BYTE type.
- The size of the array declared as SIZE ranges from 1 to 1024.(Unit: Byte)
- Store as much data as the number of SIZE from DATA [0] in the transmission buffer. (The number of
data sizes that can be sent at a time is limited to 1024)
- When normal operation is performed, 1 is displayed in DONE and STAT, and status information is
displayed when an error occurs.

b) Errors
STAT Contents Details
0 Initial state Initial state before command execution
1 No error Normal operation
2 Module setting error The module is not mounted on the base slot, or it is not a CNET module
3 Channel setting error It occurs when exceeding the input range(1, 2)
4 Array size error The size of transmitted data exceeds 1024
Communication The communication parameter of the Cnet module is not set to user-
5
parameter setting error defined, and Link Enable is not done.
Command timeout There is no response from the module, or the maximum scan time (10
6
error scans) is exceeded.

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(2) RCV_UDATA

Function block Description

Input REQ :Function block is executed (pulse

operation) if 0 -> 1
BASE : Base
SLOT : Slot
CH : Channel(1 or 2)
DATA :Received data

Output DONE :1 is displayed when executed without error

STAT :Status information
SIZE :Size of received data

a) Functions
- This command is used to store data of the frame received through CNET.
- For BASE and SLOT, enter the base and slot number on which the current CNET module is mounted.
- CH means channel number, and only 1 or 2 should be set.
- DATA should be declared as ARRAY OF BYTE type.
- The size of the array declared as SIZE ranges from 1 to 1024.(Unit: Byte)
- SIZE represents the size of the received data
- When normal operation is performed, 1 is displayed in DONE and STAT, and status information is
displayed when an error occurs.

b) Errors
STAT Contents Details
0 Initial state Initial state before command execution
1 No error Normal operation
2 Module setting error The module is not mounted on the base slot, or it is not a CNET module
3 Channel setting error It occurs when exceeding the input range(1, 2)
4 Array size error The size of transmitted data exceeds 1024
Communication The communication parameter of the Cnet module is not set to user-
5
parameter setting error defined, and Link Enable is not done.
Command timeout There is no response from the module, or the maximum scan time (10
6
error scans) is exceeded.

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15.12 Program examples

15.12.1 How to set each operation mode
The operation mode of XMC built-in Cnet is classified into P2P service and server function.

• P2P service: It operates as a client (master) and makes a request to read/write data from/to the partner station.
- XGT client
- LS BUS client
- Modbus RTU/ASCII client
- User frame definition

• Server: It operates as a server (slave) and responds according to the protocol type when requested by the client.
- XGT server
- Modbus RTU server

The setting method for each operation mode is as follows

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1) When operating as a server

Setting
Sequence Setting method
process

Connection
settings
1

1. Select Online ->Connection Settings or click the icon ( ).

2. Set the connection option suitable for user’s environment and click the Connect.
Open from Select the Read from Project->PLC or click the icon( ) to read the information of the module
2
PLC mounted on the current basic unit.

Default
settings

1. Double click the Cnet I/F to execute the default setting window and set the communication type, communication
speed, module type, data bit, stop bit and station number in the connection setting window.
2. Model initialization is only possible when the modem type is a dial-up modem, not a null modem.
3. Latency setting: it means that the frame is sent after the delay time set by a user.
1) Operation setting: It can be set when the communication type is RS-485.
* When used as a Modbus ASCII server, the data bit should be set to 7.

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Setting
Sequence Setting method
process
Operation
1. Select the operation mode of a server to be used by a user.
4 mode
2. XMC Cnet I/F supports the XGT server, Modbus ASCII server and Modbus RTU server.
selection

Writing
parameters
5

1. Select Online ->Write or click the icon ( ).

2. Click the OK button.
3. Click the [OK] button, and when the parameter writing finishes, reset each module.

Operation
check
6

1. Slect Online -> Comunication Module Settings -> System Diagnostics or click the icon( ).
2. Click the module, press the right mouse button.
3. Click [Frame Monitor] or [Service Status] to check the operation status.

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2) When operating as a P2P service(client)

Setting
Sequence Setting method
process
Default The steps 1 to 3 are the same as those in the above case.
1
settings *When set to Modbus ASCII client, the data bit is set to 7

Operation
2 mode

1.P2P use is selected as an operation mode.

P2P settings
3

1. Right-click the Cnet module in the project tree and select [Add Item] → [P2P Communication].
2. Select the P2P number (01).

P2P channel
settings
4

1. Double click the P2P channel and select protocols for each channel.
2. P2P driver supports the user frame definition, XGT client and Modbus RTU/ASCII client.

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Setting
Sequence Setting method
process

P2P block
settings
5
1. P2P block setting values are enabled differently according to the type of client selected in the channel settings.
2. Create the frame in the enabled cell according to the protocol type.
*In the case of user frame definition, it is available only when the frame is created in the user frame definition.

Writing
parameters
6

1. Select Online ->Write or click the icon ( ).

2. In the default settings, check the basic settings and P2P that have been set up, and then click the [OK] button.
3. Click the [OK] button, and when the parameter writing finishes, reset each module.

Link Enable
7

1. Select Online ->Communication Module Settings ->Link Enable or click the icon( ).
2.Check the P2P whose setting is completed and click Write.

Operation
check
8

1. Slect Online ->Communication Module Settings ->System Diagnostics or click the icon( ).
2. Click the module and then right-click.
3. Click [Frame Monitor] or [Service Status] to check the operation status.

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15.12.2 Dedicated Communication Examples

What is a dedicated communication?

• It is a protocol defied by LS ELECTRIC and is classified into XGT client and XGT server
• XGT client: requests the server to read/write data
• XGT server: responds to the client’s request

Here is an example of how to use XGT dedicated communication using XGT protocol.

dedicated communication

<client> < server >

Example of dediated service system configuration
1) Client-side settings
Type Setting contents
Basic unit XGK-CPUH
Communication module XGL-CH2B (Slot No.1)
Communication type RS-232C
Communication speed 38,400
Data bit 8
Stop bit 1
Parity bit None
Modem type Null modem
Operation cycle 200ms
Operation Write Save 1 word of M100 on the client side in M110 on the server side
status Read Save 1 word of M110 on the server side in M110 on the client side

2) Server-side settings
Type Setting contents
Basic unit XMC-E32C
Communication module Basic unit built-in communication(RS-232C)
Communication type RS-232C
Communication speed 38,400
Data bit 8
Stop bit 1
Parity bit None
Modem type Null modem
Station No. 1

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3) XGT server-side settings

On the preceding system, set up the server as follows:

Setting
Sequence Setting method
process

Connection
settings
1

1. Select Online ->Connection Settings or click the icon ( ).

2. Set the connection option suitable for user’s environment and click the Connect.
Oepn from Select the Read from Project->PLC or click the icon( ) to read the information of the module
2
PLC mounted on the current basic unit.

Default
settings
3

1. It is created the same as in the setting value on the server side of the exemplary system in the built-in
communication channel 1.
2. Operation mode is set as XGT server since it operates as a dedicated communication server.

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Writing
parameters
4

1. Select Online ->Write or click the icon ( ).

2. In the default settings, check the basic settings and P2P that have been set up, and then click the [OK] button.
3. Click the [OK] button, and when the parameter writing finishes, reset each module.

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4) XGT client-side settings

In order to operate the XBL-C21A on the client side as an XGT client, the default settings of the Cnet I/F module are
done in the following order.
Setting
Sequence Setting method
process

Connection
settings
1

1. Select Online ->Connection Settings or click the icon ( ).

2. Set the connection option suitable for user’s environment and click the Connect.
Open from Select the Read from Project->PLC or click the icon ( ) to read the information of the module
2
PLC mounted on the current basic unit.

Default
settings

1. Select XBL-C21A to create in the same way as in the setting value on the client side
of the exemplary system in channel 2.
2. Set it to an arbitrary station number (0~255) since the station number setting is meaningless
when operating as a client.
3. Operation mode should always be set to P2P use when operating as a client.

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When the default setting is completed, P2P channel and P2P block should be set. The setting method is shown below.

Sequ
Setting process Setting method
ence
1 P2P settings Click P2P in the lower part of the project window.

Communication
module settings
2

1. Double click in the project window.(P2P 01 is fixed as a built-in communication)

2. Select the slot number (No.1) that acts as a client and click OK.

P2P channel
3 settings

1. Double click of P2P 02 to set the P2P driver of channel 2 as a XGT Client and click OK.
4 1. Double click of P2P 02.

Write operation
settings

1. Channel: Select the channel 2 set as the XGT client in P2P channel setting.
2. Select WRITE to perform the write operation.
3. Start condition: Use special flag F92 to transmit frame every 200㎳.
4. Method, data type: Select 2 Byte which means individual and word since I word is to be written.
5. Number of variables: Select 1 variable since it is 1 word.
6. Partner station number: Enter 1, which is the station number on the server side.
7. Settings: Set the Read area and Storage area and click OK.
1) Read area: Device address of data stored on the client side
2) Storage area: Device address of data stored on the server side
* When all settings are completed normally, the text color of the index changes to black.

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Read operation
settings

1. Channel, start condition, method, data type, number of variables and partner station number are
set as the same as write operation.
2. P2P function: Select READ since it performs read operation.
3. Settings: Set the read and storage area and click OK.
1) Read area: Device area of data stored in server station
2) Storage area: Device area of data to be stored in client

Writing
parameters

1. Select Online ->Write or click the icon ( ).

2. Click OK.
3. Click the OK button to complete the parameter write and then reset the module.

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Link Enable
8

1. Select Online ->Communication Module Settings ->Link Enable or click the icon( ).
2. Check the P2P whose setting is completed and click Write.

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5) Operation status check

Frames transmitted and received through the frame monitoring of XG5000 can be analyzed to determine whether the
communication status is normal. The frame monitoring method of Cnet I/F module is the same regardless of the
protocol type, as shown below.

Sequenc Setting
Setting method
e process

System
diagnostic
s
1

1. Connect to XG5000 on the client side and select Online ->Communiation Module Settings ->System
Diagnostics , or click the icon( ).
2. Click on the module, press the right mouse button and click the frame monitor.

Frame
monitor
2

1. Select channel 1 and click Start.

2. Since the dedicated service is ASCII communication, the frame that operates normally can be checked by
selecting View in ACSCII.
*Select View in Hex for Modbus RTU, and select View in ASCII for Modbus ASCII.

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15.12.3 Modbus Communication Examples

The system configuration of Modbus communication (Modbus RTU mode) example is shown in below, and the
communication settings are summarized in the table below.
<client> < server >

• XBL-C41A installed in slot No. 1 of client PLC

1) Client-side settings
Basic unit XGI-CPUUN
Communication XGL-CH2B(Slot No. 2)
module
Communication RS-485
type
Communication 38,400
speed
Data bit 8
Stop bit 1
Parity bit None
Operation cycle 200ms
▶Save 1 word of MW100 on the client side in the word write area M1 on the server side
▶Save 4 words from MW101 on the client side and to M5 in the word write area M2
Write ▶Save MX1 bit value on the client side in the bit write area M20 on the server side
▶Save MX2~MX17 bit value on the client side in the bit write area M21~M36 on the server
side
Operation
▶Save 1 word value of M2 in the read area on the server side in MW160 on the client side
status
▶Save 4 words from M0 of the read area on the server side in MW150 to MW153 on the client
side
Read ▶Save bit values of M10 in the bit read area on the server side in the 1th bit of MX170 on the
client side
▶Save bit values of M10 to M25 in the bit read area on the server side in MX180 to MX195
bits on the client side

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2) Server-side settings
Basic unit XMC-E32C
Communication type Built-in RS-485
Communication speed 38,400
Data bit 8
Stop bit 1
Parity bit None
Station number 1
Bit read P0
Bit write M0
Start address
Word read P0
Word write M0

3) Modbus RTU server-side settings

It is designed to operate the built-in communication channel of XMC-E32C as a Modbus RTU server and set as shown
below.

Setting
Sequence Setting method
process

Connection
settings
1

1. Select Online ->Connection Settings or click the icon( ).

2. Set the connection option suitable for user’s environment and click Connection.
Open from Select the Read from Project->PLC or click the icon( ) to read the information of the module
2
PLC mounted on the current basic unit.

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Setting
Sequence Setting method
process

Default
settings
3

1. It is created the same as in the setting value on side server side in the built-in communication channel 2.
2. Modbus RTU server is set as operation mode.

Modbus
settings
4

1. Start address of bit read area : MX0 2.Start address of bit write area : MX100
3. Start address of word read area : MW200 4.Start address of word write area : MW300

Writing
parameters
5

1. Select Online ->Write Parameter or click the icon( ).

2. Click the OK button.
3. When the parameter write is completed after clicking the OK button, the changed parameter is automatically
applied.

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4) Modbus RTU Client Settings

In order to operate XBL-241A on the client side as an XGT client, the Cnet I/F module is set in the following order.

Setting
Sequence Setting method
process

Connection
settings
1

1. Select Online ->Connection Settings or click the icon ( ).

2. Set the connection option suitable for user’s environment and click the Connect.
Open from Select the Read from Project->PLC or click the icon( ) to read the information of the module
2
PLC mounted on the current basic unit.

Default
settings
3

1. It is created the same as in the setting value on the client side of the exemplary system in channel 2.
2. Set it to an arbitrary station number (0~255) since the station number setting is meaningless when acting as a
client.
3. Operation mode should always be set to P2P use when operating as a client.

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When the default setting is completed, P2P channel and P2P should be set. The setting method is shown below.

Seque Setting
Setting method
nce process

Communication
module settings
1

1. Click on the[Select Cnet]->[Click Right Mouse Button]->[Add Item]->[P2P Communication].

2. Select P2P No.(01) and click [OK].

P2P channel
2 settings

1.Double click of P2P 02, set the P2P driver of channel 2 to Modbus RTU Client and click OK.
3 1. Double click of P2P 02.

Write operation
settings(1)

▶Save 1 word of MW100 on the client side in the word write area M1 on the server side
1. Channel: Select the channel 2 set as the Modbus RTU client in P2P channel setting.
2. P2P function: Select WRITE to perform the write operation.
3. Start condition: Use special flag F146 to transmit frame every 200㎳.
4. Method, data type: Select Individual or Word for I word.
5. Partner station number: Select station No. 1 on the server side.
7. Settings: Set the read area and storage area and click OK.
1) Read area: Device address of data stored on the client side(MW100)
2) Storage area: Device address of data stored on the server side(0x40001:M1)
* When all settings are completed, the text color of the index changes to black

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Write operation
settings(2)

▶Save 4 words from MW101 on the client side in the word write area from M2 to M5 on the server side
1. Channel, P2P function, start address and partner station number: The same as in the sequence No. 4.
2. Method, data type: Select Continuous, Word since it is continuous 4-word writing.
3. Data size: Enter 4 since it is 4 words.
4. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device address of data stored on the client side(MW101)
(2) Storage area: Device address of data to be stored in the server station(0x40002: M2)

Write operation
settings(3)

▶Save MX1 bit value on the client side in the bit write area M20 on the server side
1. Channel, P2P function, start condition, method and partner station number: The same as in the sequence 4.
2. Data type: Select Bit.
3. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device area of data stored on the client side(MX1)
(2) Storage area: Device address of data to be stored in the server station (0x00020: M20)

Write operation
settings(4)

▶Save bit values ranging from MX2 to MX17 on the client side in the bit write area from M21 to M36 on the server side
1. Channel, P2P function, start condition and data type: The same as in the sequence No. 6.
2. Method: Select Continuous.
3. Data size: Enter 5.
4. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device area of data stored on the client side(MX2)
(2) Storage area: Device address of data to be stored in the server station (0x00020: M21)

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Sequ
Setting process Setting method
ence

Read operation
settings(1)

8
▶Save 1 word value of M2 in the word read area on the server side in MW160 on the client side
1. Channel, start condition, method, data type and partner station number: The same as in the sequence No.4
2. P2P function: Select READ.
3. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device area of data stored on the client side(0x30002)
(2) Storage area: Device address of data to be stored in the client (MW160)

Read operation
settings(2)

9
▶Save 4 words from M0 of the read area on the server side in the address from MW150 to MW153 on the client side
1. Channel, function, start condition, method, data type and partner station number: The same as in the sequence
No. 8
2. Method: Select Continuous
3. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device area of data stored on the server side(0x30000)
(2) Storage area: Device address of data to be stored in the client (MW150)

Read operation
settings(3)

10
▶Save the bit value of M10 in the bit read area on the server side in the 1th bit of MX170 on the client side
1. Channel, function, start condition, method and partner station number: The same as in the sequence No. 8.
2. Data type: Select Bit.
3. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device address of data stored on the server side(0x10010)
(2) Storage area: Device address of data to be stored in the client(MX170)

Read operation
settings(4)

11
▶Save the bit value of M10 in the bit read area from M10 to M25 on the server side in the bit of MX180 to MX195 on
the client side
1. Channel, function, start condition, method and partner station number: The same as in the sequence No. 10.
2. Method: Select Continuous
3. Settings: Set the read area and storage area and then click the OK button.
(1) Read area: Device address of data stored on the server side(0x10010)
(2) Storage area: Device address of data to be stored in the client(MX180)
Seque Setting Setting method

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nce process

Writing
parameters
12

1. Select Online ->Write or click the icon ( ).

2. Click OK.
3. Click the OK button to complete the parameter write and then reset the module.

Link Enable
13

1. Select Online ->Communication Module Settings ->Link Enable or click the icon( ).
2. Check the P2P whose setting is completed and click Write..

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15.12.4 User-Defined Communication Examples

1) When communicating with other products

This chapter explains how to communicate using user frame definition communication.

System configuration
<client> < server >

user-defined communication

In this example, the Cnet I / F and the external device to communicate by user defined communication are as follows.

Basic unit XMC-E32C

HANYOUNG Temperature controller
Division Communication
Built-in RS-485 PX7*Note 2)
module
Operation mode Client Server
Protocol User frame definition PC Link
Communication type RS-485 RS-485
Communication
9,600 9,600
speed
Data bit 8 8
Stop bit 1 1
Parity bit None None
Station No. 0 1
Latency*Note 1) 100ms -
The current value and set temperature value of the temperature controller area read at
Operation intervals of 1 second, and then the current value is stored in M200, and the temperature
set value in M210.
[User-defined communication system configuration]

Note 1) Latency value is set in RS-422/485 communication and is designed to prevent the frame from being broken when communicating with the other device with slow
response. The set value varies depending on the other device and distance, and the set value generally ranges from 50 to 100ms.
Note 2) Please refer to the user’s manual (http://hynux.com) for details on the communication settings of the temperature controller used in this example.

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PC Link frame structure

The frame structure of PC Link, which is the communication protocol of HANYOUNG temperature controller
used in this example, is as follows.

The frame of the temperature controller is executed as an ASCII string, and the contents of the defined D,I
Register can be read and written. The type of protocol is divided into the STD standard protocol and the SUM
protocol with a checksum added to the standard type. The type of protocol is selected by the parameter of the
temperature controller. The standard protocol is “STD”, and its structure starts with the start character STX(0x02)
and ends with the termination character CR(0x0D) LF(0x0A).

Please refer to the PLC communication example of HANYOUNG NUX (http://hynux.com) for details on the
command and data structure.

STX station number command data CR LF

0x02 1~99 0x0D 0x0A
[Standard protocol architecture]

station
STX command data error code CR LF
number
0x02 1~99 Check Sum 0x0D 0x0A
[SUM protocol architecture]

Exemplary frame creation

This example is when the current value and setting value of the temperature controller are stored in the M
device area of the PLC and the table below shows the frames requesting reading of contiguous areas of
data and the frames responding to requests to read data.
number of start address
frame STX station No. DRS , CR LF
data of D register
Size (Byte) 1 2 3 1 2 4 1 1
[Request frame]

station
frame STX DRS , OK , Data 1 , Data N CR LF
No.
Size
1 2 3 1 2 1 4 1 4 1 1
(Byte)
[Request frame]

•DRS: It is a command to read the consecutive values of D register, and the number of data to be read on the
frame and the start address of D register should be set.
• In the example, the number of data is 2, and 0 is entered as the start address of the current value.

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Default parameter settings

Refer to 15.12.2 for the basic setting method.

Creation of data read request frame

It describes how to create a frame in XG5000 for user-defined communication.
Data read request frame(Transmission frame)

Sequence Setting method

1. After completing the default settings, double click P2P 01 on the P2P screen.
2. Base and slot are set to 0 in built-in communication. Click OK.
3. Double click P2P channel and select the User Frame Definition in Channel 2

1. Click the User Frame Definition and press the right mouse button.
2. Select Add Group to enter the frame name (DRS) created in the group name and select Transmission in the frame
type.

1. Press the right mouse button in the added DRS group, click Add Frame and add HEAD, TAIL and BODY,
respectively.
2. In this example, test is entered as the name of the BODY.

1. Select the DRS.HEAD tab on the right editor screen and double click the editor window to create the segment
setting screen.
2. Enter the numeric constant that represents the Hex value in ASCII code as a type and 2, which is the Hex value
that means STX, as data in the segment addition.

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Sequence Setting method

1. In the same way, enter the numerical constant that represents the Hex value in ASCII as a type and D,A, which
are Hex values that mean CR and LF, as data in DRS.TAIL.

1. Double click the DRS.test tab and edit the segment as shown below.
2. Create a frame that makes a request to read the data value of two consecutive areas with No. 1 of D register of
the station No. 1 as the start address.
3. When the frame is created through the segment editing by double clicking the editor screen, the size per segment
is 10 or less.

1. The above shows the result of creating the full frame of the data read request frame.

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Creation of temperature controller response reception frame

Response frame creation(Reception frame)
Sequence Setting method

1. Frame is created in the same way as in the sequence No. 2 of the data read request frame creation, when the
frame type is set to reception.
2. The frame name is DRS_RECE.

1. Press the right mouse button in the added DRS_RECE group, click the Add Frame and add HEAD, TAIL, and
BODY, respectively.
2. In this example, RECE_DRS is entered as the name of the BODY.
3 1. Method on how to create HEAD and TAIL is the same as the sequence No. 4 to 5 of the data read request frame.

1. As set in the operation of [Table15.10.1], the current temperature value should be saved in MB200, and the
temperature setting value in MB210, and therefore the storage area of the 1st and 2nd data should be set.
2. Since the size of data 1 and 2 is 4 byes as identified in the structure of the response frame in the exemplary frame
creation, the type is a fixed size variable, and the size is 4 when entered in the segment.
3. Check the Specify Memory to select the storage area of data.

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1. The above shows the result of creating the full frame of response that receives the data responded by the
temperature controller.

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▶ Creation of P2P transmission/reception blocks

P2P transmission and reception blocks are created using the user-defined communication segment created earlier,
as shown below.
Segment Setting method

1. Double click the P2P block of P2P 01.

2. Enter the channel (user frame definition) selected from the P2P channel.
3. Select SEND for the transmission frame and RECEIVE for the reception frame as a P2P function.
4. Start condition is enabled only when the P2P function is SEND.
5. Use F39 that means 1 second since the start condition reads data once every second.
6. Click the reception frame settings to set the storage area of the current temperature value and setting value.
2 Execute the parameter write and Link Enable.
▶Transmitted/received data check
It is designed to check whether the created frame is normally transmitted and received.
Sequence Setting method

1. Select Online ->Communication Moduel Settings ->System Diagnostics or click the icon( ).
2. Click the module and click the right mouse button.
3. Click [Frame Monitor] or [Service Status] to check the operation status.
4. If the frame is erroneously written, the message [unknown] is displayed in the processing result.
2 Check the data of device area set through the device monitoring of XG-5000.

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15.13 Diagnostic Functions

With XG5000, you can check/diagnose the status of network and various systems such as basic unit status,
communication module information, service status information and frame monitor, etc.
The available diagnostic functions are as follows.
▶ CPU module information
▶ Communication module information
▶ Frame monitor
▶ Service status

15.13.1 Diagnostic Function of XG5000

The status check and diagnostic method of the system and network through system diagnostics of XG5000 are as
follows. Connect XG5000 to the basic unit and select “Online  Communication Module Setting  System
Diagnostics” in the menu, or click the system diagnostics icon ( ) and the following window appears.

▶ Basic unit status check

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Checked
Detailed results
contents

CPU
Module
information

1. Select Online>Communication Module Settings ->System Diagnostics or click the icon( ).

2. Click the CPU module and click the right mouse button.
3. Click [CPU Module Information] to check the status of the CPU module

▶ Communication module information

Checked
Detailed results
contents

Communication
module
information

1. Select Online>Communication Module Setting ->System Diagnostics or click the icon( ).

2. Click the Cnet I / F module and click the right mouse button.
3. Click [Communication module information] to check the status of communication module.

▶ Contents of communication module information item

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Items Contents
Communication module type Indicate the type of the communication module currently being diagnosed.
Indicate the base information of the communication module currently being
Base No. diagnosed.
It is fixed to 0 and displayed in XGB PLC.
Indicate the slot number of the communication module currently being diagnosed.
Slot No.
It is fixed to 0 and displayed in built-in communication
Station No. Station number of the channel used in P2P and dedicated service
Information of the communication type (RS-232C, RS-422) of the corresponding
Connection method
channel
Hardware error status Indicate whether the hardware of the communication module is normal or not.
Hardware version Version of communication module hardware
OS version Indicate the version of the communication module OS
P2P Indicate the P2P communication is enabled/disabled
Whether to download the default communication parameters
System parameter information
Display the error information of default communication parameters

▶ Frame monitor
The frame monitor of XG5000 allows you to check whether the frame transmitted/received through the Cnet I/F
module is normal or not.

Checked
Detailed results
contents

Frame monitor

1. Select Online>Communication Module Setting ->System Diagnostics or click the icon( ).

2.You can monitor the communication data currently being communcated by cliking on the Cnet I/F module
and pressing the right mouse button to click the [Frame Monitor].
3. Click [Frame Monitor] to monitor the communication status.

▶ Frame Monitor Details

Items Contents

Basic information Base No. Base position of the communication module being monitored

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Slot No. Slot position of the communication module being monitored

Channel
Monitor option Select the channel to monitor
selection
Type Indicate the transmission frame and reception frame
Indicate the protocol type currently being used
1) XGT server
2) XGT client
Processed
3) Modbus server
results
Frame monitor 4) Modbus client
window 5) User defined
6) Unknown: Frame that cannot be processed
Size Length of the monitored frame
Time Display the point of time for transmission/reception
Frame data Display the data of transmitted/received frame

View in HEX Display the frame data with HEX values

View in ASCII Display the frame data with ASCII values

Save file Save the frame monitoring contents to a file

Start Start of the frame monitoring operation

Stop Stop the monitoring status

Close Close the frame monitor window

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▶ Service status
Checked Detailed results
contents

Dedicated
service

1. Select Online>Communication Module Setting ->System Diagnostics or click the icon( )

2. Click on the Cnet I/F, and then press the right mouse button and click the service status.
3. Click [Service Status], and then click [Dedicated Service].
4. Click [Continue Reading] to check the status of each service.

P2P
service

1. Select Online>Communication Module Setting ->System Diagnostics or click the icon( )

2. Click on the Cnet I/F, and then press the right mouse button and click the service status.
3. Click [Status by Service], and then click [P2P Service].
4. Click [Continue Reading] to check the status of each service.

▶ Details by service

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Division Item Contents

Base position of the module using the dedicated
Base No.
service
Basic
Slot position of the module using the dedicated
information Slot No.
service
Link type Type of the communication module being used
Indicate the type of drives being used for each
Dedicated Dedicated service information
channel
service
Port No. Indicate the channel number
Indicate the number of dedicated service
Detailed Service count
communications
information
Indicate the number of errors that occur during the
window Error count
dedicated service communication
Status Display the dedicated service communication status
Base No. Base position of the module using the P2P service
Basic
Slot No. Slot position of the module using the P2P service
information
Link type Type of the communication module being used
Presence of P2P Indicate whether the P2P parameter is downloaded
P2P service parameters or not
information P2P driver setting information for each channel
Driver type
XGT client/MODBUS client/User definable
Available from 0 to 63
P2P service Block No. Display only the currently registered block being
operated
Port No. Indicate the channel number
Detailed Display service execution status information for each
Status
information block
Indicate the number of times each block has been
Service count
executed since the P2P service was performed
Indicate the number of errors that occur during the
Error count
service
Continuous Continuous Read Check P2P service status information every second
Read/ Check the P2P service status information at the time
Restart
Redo of execution

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▶ Service status code

It is used to check the communication status of Cnet I / F module.
Dedicated service P2P service
Status Meaning Status Meaning

0 Normal communication 0 Normal communication

Maximum station setting error(when setting 0 to

1 Reception frame header error (No ACK/NAK) 4
255 stations or more)

2 Reception frame tail error(No Tail) 5 Time out occurs

1.Modbus address error

3 Reception frame BCC error FFFE
2.When using commands other than Read/Write
The station number of the received frame is different
9
from the number of its station (Its station number=0)

0A No response is received from the CPU

The received frame is longer than the Modbus

0B -
maximum frame
The received frame is not Modbus ASCII / Modbus
0C
RTU

0D HEX conversion error in Modbus occurs

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15.13.2 Protocol-specific error codes

It is related to the error code according to the protocol.
▶ XGT Client / Server
Error
Error type Error content and cause Example of error frame
code
Block number excess The number of blocks is larger than 16 at individual
0003 01rSS1105%MW10…
error read/write requests
0004 Variable length error Variable length is greater than the maximum size (16) 01rSS113%MW10000000000…

0007 Data type error Data other than X,B,W,D and L is received 01rSS1105%MK10

Date length area information is incorrect 01rSB05%MW%4

It does not start with % 01rSS0105$MW10

0011 Data error The area value of a variable is invalid 01rSS0105%MW^&

In the case of bit writing, 00 or 01 should be written,

01wSS0105$MX1011
but other values are written

0090 Monitor execution error The execution of unregistered monitor is required

The range of monitor execution exceeds that of
0190 Monitor execution error
registration numbers requested by the client
The range of monitor registration exceeds that of
0290 Monitor registration error
registration numbers requested by the client
1132 Device memory error Character, which is not a device to be used, is entered

The size of data exceeds 60 words that can be read or

1232 Data size error 01wSB05%MW1040AA5512…
written at a time

1234 Reserved frame error There is additional content that is not needed 01rSS0105%MW10000

Data type mismatch In the case of individual read/write, all blocks should
1332 01rSS0205%MW1005%MB10
error be requested with respect to the same data type

1432 Data value error Data value cannot be converted to Hex value 01wSS0105%MW10AA%5

Variable request area It is required beyond the area supported by each

7132 01rSS0108%MWFFFFF
excess error device.

▶ Modbus ASCII, Modbus RTU Client / Server

Code Name Detailed descriptions
01 Function code error Function code error
02 Address error Address allowable range excess error
03 Data setting error Data value is not allowed
04 Server station error Server(slave)station is in error state
Retransmission Requests the client to make a request again at a proper time because the content
05
request to be processed is to huge for the server to handle at the moment
The server station takes time to process. The master should make a request
06 Processing time delay
again.

▶ P2P Client Error Code

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Code Name Detailed descriptions

05 P2P block timeout error Exceeds P2P block reception response time

▶ Error code that occurs in PLC itself

Code Name Detailed descriptions
Timeout error occurs with respect to P2P block in PLC, not communication
module. The PLC waits for up to 5 seconds after the P2P requests to the
0015 PLC P2P client time out
communication module. After 5 seconds, the PLC generates a timeout error with
respect to the P2P block.
0016 PLC P2P client error Invalid device area access error

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15.13.3 Troubleshooting
1) Solution when P2P parameter setting error warning occurs when connected to XG5000
Problem Cause Solution
P2P setting error warning when connected to
XG5000

1. Check the P2P setting number in the Link-

P2P number Enable of XG5000, delete the check of
without P2P settings wrongly selected P2P number and click
is selected during Write.
the Link-Enable of 2. After disconnecting the connection of
XG5000 XG5000, connect to XG5000 and check
whether the warning disappears.

2) If the communication is not done even though P2P setting is completed when operating as a client
Problem Cause Solution

Basic unit is in the stop Connect to XG5000, check operation mode and
state convert Stop to Run
Communication default
Communication setting is completed, Connect to XG5000, select “File->Open from PLC” and
parameter mismatch
but Tx/Rx of LED of CnetI/F does not check the communication default setting of the module
between the client and
blink that acts as client and server
the server
After performing P2P parameter, select the Link-Enable
Link-Enable is not done
of the P2P and execute Write.

3) If the communication type is set to RS-485, and the response frame is missing when operating as a client
Problem Cause Solution
1. Change the P2P start condition of P2P block setting
in consideration of communication time
2. Communication time= Transmission time + reception
time
P2P start condition is • Transmission time= Start condition + basic unit
Frame monitoring after completing faster than Scan time + communication module
the settings of multiple P2P communication time Reaction time + data
parameters in P2P block results in Delivery time
missing response frames • Reception time= Basic unit scan time
+ communication module reaction time
+ data delivery time
Response time of the
1.Increase the latency in the default network setting
communication module
section of XG5000
acting as a server is slow

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4) Solution when transmitting and receiving data that cannot be subject to frame analysis
Problem Cause Solution
1. Execute 1:1 communication with the device acting as a
In a multi-drop connection, server and check whether it is normal
a plurality of servers 2. In case of normal communication between all devices, a
transmit data at the same plurality of servers may transmit data at the same time in a
time multi-drop configuration. Take the Interlock and be sure not
to transmit in this case
Parity bit setting is not Match the parity bit setting between Cnet I/F and device
Transmitting and receiving data matched acting as a server
that cannot be subject to frame
analysis Length of the stop bit is Match the stop bit setting between Cnet I/F and device
not set correctly acting as a server

Communication speed Match the communication speed setting between Cnet I/F
setting is not matched and device acting as a server

In multi-drop, termination Check whether the termination resistor between Cnet I/F
resistance is not set and device acting as a server is installed or not.

5) If it is unclear whether the error is caused by the client or the device operating as a server
Problem Cause Solution
It is unclear whether the 1.Check Cnet I/F module
communication error is caused by - Check the installation status of the module
-
the client or the device acting as a - Check the wiring status
server 2.Check the basic unit status

6) Solution when normal or abnormal communication repeatedly occurs

Problem Cause Solution
1. Execute 1:1 communication with the device acting as a
In a multi-drop connection, server and check whether it is normal
a plurality of servers 2. In case of normal communication between all devices,
transmit data at the same a plurality of servers may transmit data at the same time in
time a multi-drop configuration. Take the Interlock and be sure
not to transmit in this case
Wiring connection failure
Replace cable or fix the cable connection securely
of communication line
Timing mismatch between
transmission and
Normal or abnormal reception signals when Increase the latency of the device acting as a client and a
communication repeatedly communication is set by server
occurs half-duplex
communication(RS-485)
1. When the transmission
processing is not
completed, the following
transmission process is
required.
Ensure the handshaking in the program
2. When the reception
processing is not
completed, the following
reception process is
required

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Appendix 1 Flag List

(1) Type of flag
(a) System flag
This flag indicates the operation, state, and information of motion controller.

Variable Type Address Description

_SYS_STATE DWORD %FD0 PLC mode and states
_RUN BOOL %FX0 RUN
_STOP BOOL %FX1 STOP
_ERROR BOOL %FX2 ERROR
_LOCAL_CON BOOL %FX4 Local control
_REMOTE_CON BOOL %FX6 Remote mode ON
_RUN_EDIT_ST BOOL %FX8 Downloading a program at online editing mode
_RUN_EDIT_CHK BOOL %FX9 Processing online editing internally
_RUN_EDIT_DONE BOOL %FX10 Online editing done
_RUN_EDIT_NG BOOL %FX11 Online editing abnormal termination
_CMOD_KEY BOOL %FX12 Change operation mode by the switch
_CMOD_LPADT BOOL %FX13 Change operation mode by the local PADT
_FORCE_IN BOOL %FX16 Force input
_FORCE_OUT BOOL %FX17 Force output
_MON_ON BOOL %FX20 Monitoring mode
_USTOP_ON BOOL %FX21 STOP by STOP Function
_ESTOP_ON BOOL %FX22 STOP by ESTOP Function
_INIT_RUN BOOL %FX24 Executing the initial task
_PB1 BOOL %FX28 Program code 1
_PB2 BOOL %FX29 Program code 2
_CNF_ER DWORD %FD2 System errors(Significant error)
_ANNUM_ER BOOL %FX70 Significant error detection in external device
_BPRM_ER BOOL %FX72 Basic parameter error
_IOPRM_ER BOOL %FX73 IO configuration parameter error
_SPPRM_ER BOOL %FX74 Parameter error in Special module
_CPPRM_ER BOOL %FX75 Local Ethernet parameter error
_PGM_ER BOOL %FX76 Program error
_SWDT_ER BOOL %FX78 CPU abnormal ends
_ENCPRM_ER BOOL %FX85 Encoder parameter error
_AXISPRM_ER BOOL %FX86 Axis parameter error

_GROUPPRM_ER BOOL %FX87 Axis group parameter error

_ECPRM_ER BOOL %FX88 EtherCAT parameter error
_NCPRM_ER BOOL %FX89 NC Parameter Error

A1-1
 Appendix1 Flag List

Variable Type Address Description

_NCPGM_ER BOOL %FX90 NC Program Check Error
_PTASK_CYCLE_ER BOOL %FX91 Main Task Period Error
_CTASK_CYCLE_ER BOOL %FX92 Cycle Task Period Error
_SYSTEM_ER BOOL %FX93 System Error
_TASK_PRM_USAGE_OVER_ER BOOL %FX94 Task Program Occupancy Excess Error
_CNF_WAR DWORD %FD4 System warnings(Minor error)
_RTC_ER BOOL %FX128 Abnormal RTC data
_PTASK_CYCLE_WAR BOOL %FX129 Main Task Period Exceeded Warning
_CTASK_CYCLE_WAR BOOL %FX130 Cycle Task Period Exceeded Warning
_AB_SD_ER BOOL %FX131 Stop from abnormal operation
_MOTION_CONTROL_WAR BOOL %FX132 Motion Control Abnormal Warning
_ANNUM_WAR BOOL %FX134 Minor error detection in external device
_TASK_PRM_USAGE_OVER_WAR BOOL %FX135 Task Program Occupancy Excess Warning
_P2P_WAR BOOL %FX138 P2P Parameter Warning
_T20MS BOOL %FX192 20ms CLOCK
_T100MS BOOL %FX193 100ms CLOCK
_T200MS BOOL %FX194 200ms CLOCK
_T1S BOOL %FX195 1s CLOCK
_T2S BOOL %FX196 2s CLOCK
_T10S BOOL %FX197 10s CLOCK
_T20S BOOL %FX198 20s CLOCK
_T60S BOOL %FX199 60s CLOCK
_ON BOOL %FX201 Always ON
_OFF BOOL %FX202 Always OFF
_1ON BOOL %FX203 1 scan ON
_1OFF BOOL %FX204 1 scan OFF
_STOG BOOL %FX205 Every scan Toggle
_ERR BOOL %FX224 Calculation error flag
_ALL_OFF BOOL %FX227 All output OFF
_LER BOOL %FX229 Latch flag for calculation error
_ARY_IDX_ERR BOOL %FX247 Exceeding error from Index range when using array
_ARY_IDX_LER BOOL %FX248 Latch for exceeding error on Index range when using array
_UDF_STACK_ERR BOOL %FX249 UDF Stack Over Error Flag
_UDF_STACK_LER BOOL %FX250 UDF Stack Over Error Latch Flag
_CPU_TYPE WORD %FW18 CPU type (XMC-E08A: 0xA421, XMC-E16A: 0xA422, XMC-
E32A: 0xA425, XMC-32C: 0xA426, LSMMT-E32A: 0xA429,
LSMMT-E32C: 0xA42A)
_CPU_VER WORD %FW19 CPU version
_OS_VER DWORD %FD10 OS version
_OS_DATE DWORD %FD11 OS date

_OS_VER_PATCH DWORD %FD12 OS patch version

A1-2
 Appendix1 Flag List

Variable Type Address Description

_RTC_TIME ARRAY[0..7] OF BYTE %FB52 RTC Time

_RTC_DATE DATE %FW30 Current RTC date

_RTC_WEEK UINT %FW31 Current RTC day

_RTC_TOD TIME_OF_DAY %FD16 Current time of RTC(ms unit)
_KEY DWORD %FD17 Current state of the local key switch
_AC_F_CNT UINT %FW36 Short power interruptions count
_FALS_NUM UINT %FW37 FALS Command Usage Area
_SYS_ERR_TYPE WORD %FW38 System Error Detailed Flag
_ENCODER_HW_ERR BOOL %FX608 Encoder Input Handling H/W Setting Error
_BACKPLANE_IF_ERR BOOL %FX609 Backplane Interface Error
_SERIAL_NUM ARRAY[0..19] OF BYTE %FB80 Serial Number
_PTASK_SCAN_MAX UINT %FW512 Main Task Max. Scan Time(Unit:100us)
_PTASK_SCAN_MIN UINT %FW513 Main Task Min. Scan Time(Unit:100us)
_PTASK_SCAN_CUR UINT %FW514 Main Task Current Scan Time(Unit:100us)
_CTASK_SCAN_MAX UINT %FW515 Cycle Task Max. Scan Time(Unit:100us)
_CTASK_SCAN_MIN UINT %FW516 Cycle Task Min. Scan Time(Unit:100us)
_CTASK_SCAN_CUR UINT %FW517 Cycle Task Current Scan Time(Unit:100us)
_PROGRAM_RATIO_MAX UINT %FW518 User Program Maximum Execution Occupancy
(1sec)
_PROGRAM_RATIO_MIN UINT %FW519 User Program Minimum Execution Occupancy (1sec)
_PROGRAM_RATIO_CUR UINT %FW520 User Program Current Execution Occupancy (1sec)
_PTASK_CYCLE_WAR_NUM UINT %FW748 Main Task Period Exceeded Warning Count
_CTASK_CYCLE_WAR_NUM UINT %FW749 Cycle Task Period Exceeded Warning Count
_RTC_WR BOOL %FX20480 User RTC Setting Request
_CHK_ANC_ERR BOOL %FX20482 Request for significant error detection in external
device
_CHK_ANC_WAR BOOL %FX20483 Request for minor error detection in external device
_PTASK_SCAN_WR BOOL %FX20486 Main Task Scan Value Initialization
_CTASK_SCAN_WR BOOL %FX20487 Cycle Task Scan Value Initialization
_INIT_DONE BOOL %FX20496 Completion of initialization task
_ANC_ERR WORD %FW1282 Significant error information in external device
_ANC_WAR WORD %FW1283 Minor error information in external device
_RTC_TIME_USER ARRAY[0..7] OF BYTE %FB2568 User RTC Time

(b) Motion flag

The flag displayed following are as follows. It displays the state and data of the motion controller.
The flag related to axis is displayed as “_AXxx_...”(xx indicates the relevant axis No. : Decimal) and the flag related to axis group
is displayed as “_AGyy_...”(yy indicates the axis group No. : Decimal).

A1-3
 Appendix1 Flag List

1) Motion common flag

Variable Type Address Description
_MC_RUN BOOL %FX65536 MC RUN
_MC_STOP BOOL %FX65537 MC STOP
_MC_TEST BOOL %FX65538 MC TEST
_MC_WARNING BOOL %FX65539 MC Common warning occurrence
_MC_ALARM BOOL %FX65540 MC Common alarm occurrence
_MC_COM_ERR BOOL %FX65541 MC Common error occurrence
_MC_COM_ERR_CODE WORD %FW4097 MC Common error code
2) Motion axis flag
The address information is the flag memory of axis 01. The address has 2,048bit (32LREAL) offsets per axis.
Variable Type Address Description
_AXxx_RDY BOOL %FX73728 Axis xx ready
_AXxx_WARNING BOOL %FX73729 Axis xx warning occurrence
_AXxx_ALARM BOOL %FX73730 Axis xx alarm occurrence
_AXxx_SV_ON BOOL %FX73731 Axis xx servo On/Off
_AXxx_SV_RDY BOOL %FX73732 Axis xx servo ready
_AXxx_MSTSLV_STS BOOL %FX73733 Axis xx master/slave status
_AXxx_NC BOOL %FX73734 Axis xx NC operation
_AXxx_MST_INFO UINT %FW4609 Axis xx master axis information
_AXxx_AXIS_TYPE UINT %FW4610 Axis xx axis type
_AXxx_LINKED_NODE UINT %FW4611 Axis xx connected node information
_AXxx_LINKED_SLOT UINT %FW4612 Axis xx connected slot information
_AXxx_UNIT UINT %FW4613 Axis xx axis unit
_AXxx_VEL_UNIT UINT %FW4614 Axis xx speed unit
_AXxx_AX_ERR WORD %FW4615 Axis xx error code
_AXxx_SVON_INCMPL BOOL %FX73856 Axis xx servo on incomplete
_AXxx_COMM_WARN BOOL %FX73857 Axis xx communication warning
_AXxx_DEV_WARN BOOL %FX73858 Axis xx deviation warning
_AXxx_SV_ERR BOOL %FX73872 Axis xx servo drive error
_AXxx_HW_POT BOOL %FX73873 Axis xx positive limit detection
_AXxx_HW_NOT BOOL %FX73874 Axis xx negative limit detection
_AXxx_SW_POT BOOL %FX73875 Axis xx S/W positive limit detection
_AXxx_SW_NOT BOOL %FX73876 Axis xx S/W negative limit detection
_AXxx_SV_OFF BOOL %FX73877 Axis xx execution error of operation command
in servo-off state
_AXxx_POS_OVR BOOL %FX73878 Axis xx exceeds the set range of positioning
travel amount
_AXxx_VEL_OVR BOOL %FX73879 Axis xx exceeds the maximum velocity
_AXxx_DEV_ERR BOOL %FX73880 Axis xx deviation alarm
_AXxx_HOME_INCMPL BOOL %FX73881 Axis xx Execution of absolute position
command in undetermined HOME

A1-4
 Appendix1 Flag List

Variable Type Address Description

_AXxx_COMM_ERR BOOL %FX73882 Axis xx communication alarm
(EtherCAT maintenance lost communication)
_AXxx_BUSY BOOL %FX73888 Axis xx busy state of motion command
_AXxx_PAUSE BOOL %FX73889 Axis xx pause state of motion command
(velocity is zero)
_AXxx_STOP BOOL %FX73890 Axis xx stop state by the stop command
_AXxx_CMD_FAIL BOOL %FX73891 Axis xx abnormal completion of motion
command
_AXxx_CMD_CMPL BOOL %FX73892 Axis xx normal completion of motion
command
_AXxx_DIR BOOL %FX73893 Axis xx operation direction
_AXxx_JOG BOOL %FX73894 Axis xx JOG operation
_AXxx_HOME BOOL %FX73895 Axis xx Homing operation
_AXxx_POS_CTRL BOOL %FX73896 Axis xx position control operation
_AXxx_VEL_CTRL BOOL %FX73897 Axis xx velocity control operation
_AXxx_TRQ_CTRL BOOL %FX73898 Axis xx torque control operation
_AXxx_LINTP BOOL %FX73899 Axis xx linear interpolation operation
_AXxx_CINTP BOOL %FX73900 Axis xx circular interpolation operation
_AXxx_SYNC BOOL %FX73901 Axis xx synchronous control operation
_AXxx_COORD BOOL %FX73902 Axis xx coordinated operation
_AXxx_BUSY_ACC BOOL %FX73917 Axis xx acceleration operation
_AXxx_BUSY_CONSTVEL BOOL %FX73918 Axis xx constant speed operation
_AXxx_BUSY_DEC BOOL %FX73919 Axis xx deceleration operation
_AXxx_POS_CMPL BOOL %FX73920 Axis xx positioning completion
_AXxx_INPOS BOOL %FX73921 Axis xx inposition detection
_AXxx_LATCH_CMPL BOOL %FX73922 Axis xx latch completion
_AXxx_HOME_CMPL BOOL %FX73923 Axis xx homing completion
_AXxx_Disabled BOOL %FX73936 Axis xx Disabled state
_AXxx_Standstill BOOL %FX73937 Axis xx Standstill state
_AXxx_Discrete BOOL %FX73938 Axis xx Discrete state
_AXxx_Continuous BOOL %FX73939 Axis xx Continuous state
_AXxx_Synchronized BOOL %FX73940 Axis xx Synchronized state
_AXxx_Homing BOOL %FX73941 Axis xx Homing state
_AXxx_Stopping BOOL %FX73942 Axis xx Stopping state
_AXxx_ErrorStop BOOL %FX73943 Axis xx ErrorStop state
_AXxx_CMD_TPOS LREAL %FL1156 Axis xx target position
_AXxx_CMD_CPOS LREAL %FL1157 Axis xx command position of current scan
_AXxx_CMD_VEL LREAL %FL1158 Axis xx command velocity
_AXxx_CMD_ACCDEC LREAL %FL1159 Axis xx command acceleration/deceleration
_AXxx_CMD_JERK LREAL %FL1160 Axis xx command jerk
_AXxx_CMD_TRQ LREAL %FL1161 Axis xx command torque

A1-5
 Appendix1 Flag List

Variable Type Address Description

_AXxx_ACT_POS LREAL %FL1162 Axis xx actual current position
_AXxx_ACT_VEL LREAL %FL1163 Axis xx actual current velocity
_AXxx_ACT_TRQ LREAL %FL1164 Axis xx actual current torque
_AXxx_POS_DEV LREAL %FL1165 Axis xx position deviation
_AXxx_DRV_ALARM BOOL %FX74624 Axis xx drive alarm state
_AXxx_DRV_WARNING BOOL %FX74625 Axis xx drive warning state
_AXxx_DRV_SV_ON BOOL %FX74626 Axis xx servo on status
_AXxx_DRV_POT BOOL %FX74627 Axis xx positive limit input
_AXxx_DRV_NOT BOOL %FX74628 Axis xx negative limit input
_AXxx_DRV_HOME BOOL %FX74629 Axis xx home input
_AXxx_DRV_LATCH1 BOOL %FX74630 Axis xx LATCH1 input
_AXxx_DRV_LATCH2 BOOL %FX74631 Axis xx LATCH2 input
_AXxx_DRV_PARAMBUSY BOOL %FX74632 Axis xx read/write operations of the SDO
parameter
_AXxx_DRV_IN DWORD %FD2333 Axis xx drive inputs
_AXxx_DRV_ERR WORD %FW4668 Axis xx drive error code
_AXxx_CMDBUF_FULL BOOL %FX73951 Axis xx Buffered full of command buffers
_AXxx_CMDBUF_QUEUED UINT %FW4622 Axis xx Buffered number of command
execution wait
_AXxx_CMDBUF_FREE UINT %FW4623 Axis xx Buffered number of executable
commands
Reference) The flags of _AXxx_HOME(Flag used at home return command) and _AXxx_Homing(Operation status of PLC open
standard) indicate the same state.

3) Motion axis group flag

The address information is the flag memory of axis 01. The address has 5,120bit (80LREAL) offsets per axis.
Variable Type Address Description
_AGxx_RDY BOOL %FX212992 Axis group xx ready
_AGxx_WARNING BOOL %FX212993 Axis group xx warning occurrence
_AGxx_ALARM BOOL %FX212994 Axis group xx alarm occurrence
_AGxx_SV_ON BOOL %FX212995 Axis group xx servo On/Off
_AGxx_SV_RDY BOOL %FX212996 Axis group xx servo ready
_AGxx_ERR WORD %FW13313 Axis group xx error code
_AGxx_BUSY BOOL %FX213024 Axis group xx busy state of motion command
_AGxx_PAUSE BOOL %FX213025 Axis group xx pause state of motion command
(velocity is zero)
_AGxx_STOP BOOL %FX213026 Axis group xx stop state by the stop command
_AGxx_CMD_FAIL BOOL %FX213027 Axis group xx command error exit status
_AGxx_CMD_CMPL BOOL %FX213028 Axis group xx command execution complete
_AGxx_LINTP BOOL %FX213029 Axis group xx linear interpolation operation
_AGxx_CINTP BOOL %FX213030 Axis group xx circular interpolation operation
_AGxx_HOME BOOL %FX213031 Axis group xx homing operation

A1-6
 Appendix1 Flag List

_AGxx_SYNC BOOL %FX213032 Axis group xx synchronization operation

_AGxx_TLINTP BOOL %FX213033 Axis group xx coordinated time operation
_AGxx_CDMOVE BOOL %FX213034 Axis group xx coordinated direct operation
_AGxx_CCINTP BOOL %FX213035 Axis group xx coordinated circular interpolation
operation
_AGxx_POS_CMPL BOOL %FX213056 Axis group xx positioning completion
_AGxx_Disabled BOOL %FX213072 Axis group xx Disabled state
_AGxx_Standby BOOL %FX213073 Axis group xx Standby state
_AGxx_Moving BOOL %FX213074 Axis group xx Moving state
_AGxx_Homing BOOL %FX213075 Axis group xx Homing state
_AGxx_Stopping BOOL %FX213076 Axis group xx Stopping state
_AGxx_ErrorStop BOOL %FX213077 Axis group xx ErrorStop state
_AGxx_CMDBUF_FULL BOOL %FX213087 Axis group xx Buffered Command buffer full.
_AGxx_CMDBUF_QUEUED UINT %FW13318 Axis group xx Buffered Command waiting
number
_AGxx_CMDBUF_FREE UINT %FW13319 Number of axis group xx Buffered commands
that can be executed
_AGxx_CMD_TPOS ARRAY[0..9] OF LREAL %FL3330 Axis group xx target position
_AGxx_CMD_CPOS ARRAY[0..9] OF LREAL %FL3340 Axis group xx command position of current
scan
_AGxx_CMD_VEL LREAL %FL3350 Axis group xx target velocity
_AGxx_CMD_ACCDEC LREAL %FL3351 Axis group xx command acc./dec.
_AGxx_CMD_JERK LREAL %FL3352 Axis group xx command jerk
_AGxx_ACT_POS ARRAY[0..9] OF LREAL %FL3353 Axis group xx actual current position
_AGxx_ACT_VEL LREAL %FL3363 Axis group xx actual current velocity
_AGxx_CFG_AX_NUM UINT %FW13456 Axis group xx number of axes
_AGxx_CMDBUF_FULL BOOL %FX213087 Axis group xx Buffered full of command buffers
_AGxx_CMDBUF_QUEUED UINT %FW13318 Axis group xx Buffered number of command
execution wait
_AGxx_CMDBUF_FREE UINT %FW13319 Axis group xx Buffered number of executable
commands
_AGxx_CFG_A1 UINT %FW13458 Axis group xx axis number of composition axis1
_AGxx_CFG_A2 UINT %FW13459 Axis group xx axis number of composition axis2
_AGxx_CFG_A3 UINT %FW13460 Axis group xx axis number of composition axis3
_AGxx_CFG_A4 UINT %FW13461 Axis group xx axis number of composition axis4
_AGxx_CFG_A5 UINT %FW13462 Axis group xx axis number of composition axis5
_AGxx_CFG_A6 UINT %FW13463 Axis group xx axis number of composition axis6
_AGxx_CFG_A7 UINT %FW13464 Axis group xx axis number of composition axis7
_AGxx_CFG_A8 UINT %FW13465 Axis group xx axis number of composition axis8
_AGxx_CFG_A9 UINT %FW13466 Axis group xx axis number of composition axis9
_AGxx_CFG_A10 UINT %FW13467 Axis group xx axis number of composition
axis10
_AGxx_MTCP_Px LREAL %FL3367 Axis group xx X axis position(MCS)

A1-7
 Appendix1 Flag List

_AGxx_MTCP_Py LREAL %FL3368 Axis group xx Y axis position(MCS)

_AGxx_MTCP_Pz LREAL %FL3369 Axis group xx Z axis position(MCS)
_AGxx_MTCP_A LREAL %FL3370 Axis group xx X axis rotation(MCS)
_AGxx_MTCP_B LREAL %FL3371 Axis group xx X axis rotation(MCS)
_AGxx_MTCP_C LREAL %FL3372 Axis group xx Z axis rotation(MCS)
_AGxx_PTCP_Px LREAL %FL3373 Axis group xx X axis position(PCS)
_AGxx_PTCP_Py LREAL %FL3374 Axis group xx Y axis position(PCS)
_AGxx_PTCP_Pz LREAL %FL3375 Axis group xx Z axis position(PCS)
_AGxx_PTCP_A LREAL %FL3376 Axis group xx X axis rotation(PCS)
_AGxx_PTCP_B LREAL %FL3377 Axis group xx Y axis rotation(PCS)
_AGxx_PTCP_C LREAL %FL3378 Axis group xx Z axis rotation(PCS)

4) Master flag
Variable Type Address Description
_EC_LINKUP_INFO BOOL %FX65600 Link Up/Down Information
_EC_COMM BOOL %FX65601 communication connection status
_EC_COMM_ERR BOOL %FX65602 Communication timeout error
_EC_PDO_ERR_CNT UINT %FW4102 PDO error count
_EC_SLAVE_RDY ARRAY[0..63] OF BOOL %FX65664 Slave ready
_EC_SDO_BUSY ARRAY[0..63] OF BOOL %FX65792 Slave SDO processing Busy
_EC_SDO_ERR ARRAY[0..63] OF BOOL %FX65920 Slave SDO processing error
_EC_LINE_FAIL ARRAY[0..63] OF BOOL %FX66048 Cable disconnection
_EC_MASTER_STATE BYTE %FB8264 Master EtherCAT STATE(1 : Init, 2 : PreOP,
3 : bootstrap, 4 : SafeOP, 8 : OP, 99 : CHG)
_EC_SLAVE_NUM WORD %FW4133 Number of EtherCAT slave connections
_EC_ERR_INFO1 STRING %FB8272 EtherCAT error information 1
_EC_ERR_INFO2 STRING %FB8304 EtherCAT error information 2
_EC_TRANSMITTED_OK UDINT %FD2084 number of frames transmitted
_EC_RECEIVED_OK UDINT %FD2085 number of frames received
_EC_CRCERR_CNT UDINT %FD2086 Receive CRC error frame
_EC_COLLISION_CNT UDINT %FD2087 Number of collision frames
_EC_CARRIER_SENSE_ERR UDINT %FD2088 Carrier sense error
_EC_LINKOFF_CNT UDINT %FD2089 Number of link offs
_EC_OVERSIZE_FRAME UDINT %FD2090 Receiving oversized Frames
_EC_UNDERSIZE_FRAME UDINT %FD2091 Receiving undersized Frames
_EC_JABBER_FRAME UDINT %FD2092 Receive Jabber Frame
_EC_PDO_CUR_TRANSCYCLE UDINT %FD2093 PDO transmission cycle(ns)
_EC_PDO_MAX_TRANSCYCLE UDINT %FD2094 Maximum PDO transmission cycle (ns)
_EC_PDO_MIN_TRANSCYCLE UDINT %FD2095 Minimum PDO transmission cycle (ns)
_EC_PDO_TRANS_JITTER UDINT %FD2096 PDO frame transmission jitter (ns)
_EC_PDO_ERR_CNT_TOTAL UDINT %FD2104 PDO error count(accumulation)
_EC_LOST_FRAME UDINT %FD2105 Frames lost
_EC_PDO_ERR_CNT_MAX UDINT %FD2106 PDO error count (Max)

A1-8
 Appendix1 Flag List

_EC_ERR_INFO3 STRING %FB8424 EtherCAT error information 3

5) Slave flag
Variable Type Address Description
_SLVxx_EC_STATE SINT %FB47104 EtherCAT Slave xx STATE
(1 : Init, 2 : PreOP, 3 : bootstrap, 4 : SafeOP,
8 : OP, 99 : CHG)
_SLVxx_LINK_STATUS BYTE %FB47105 EtherCAT Slave xx link information
_SLVxx_ERROR WORD %FW23553 EtherCAT Slave xx error
_SLVxx_VENDOR_ID DWORD %FD11777 EtherCAT Slave xx Vendor ID
_SLVxx_PRODUCT_CODE DWORD %FD11778 EtherCAT Slave xx Product Code
_SLVxx_REVISION_NUMBER DWORD %FD11779 EtherCAT Slave xx Revision Number
_SLVxx_ALStatus AL status information %FW23563 Slave xx AL status information
_SLVxx_ALStatusCode AL error code %FW23564 Slave xx AL error code
_SLVxx_DLStatus Link status information %FW23565 Slave xx Link status information
_SLVxx_LinkLostCount Port A Number of link %FD11783 Slave xx Port A Number of link disconnection
disconnection
_SLVxx_InValidFrameCounterA Port A Abnormal frame %FB47136 Slave xx Port A Abnormal frame counter
counter
_SLVxx_RxErrorCounterA Port A Number of physical %FB47137 Slave xx Port A Number of physical layer
layer errors errors
_SLVxx_InValidFrameCounterB Port B Abnormal frame %FB47138 Slave xx Port B Abnormal frame counter
counter
_SLVxx_RxErrorCounterB Port B Number of %FB47139 Slave xx Port B Number of physical layer
physical layer errors errors
_SLVxx_InValidFrameCounterC Port C Abnormal frame %FB47140 Slave xx Port C Abnormal frame counter
counter
_SLVxx_RxErrorCounterC Port C Number of %FB47141 Slave xx Port C Number of physical layer
physical layer errors errors
_SLVxx_InValidFrameCounterD Port D Abnormal frame %FB47142 Slave xx Port D Abnormal frame counter
counter
_SLVxx_RxErrorCounterD Port D Number of %FB47143 Slave xx Port D Number of physical layer
physical layer errors errors
_SLVxx_ForwardedRXErrCounter Number of transmitted %FD11786 Slave xx Number of transmitted abnormal
abnormal frames frames

A1-9
 Appendix1 Flag List

6) NC channel flag
It displays the state of NC channel. NC channel flag is displayed as “_NCyy_...”
(yy indicates the NC channel No.( Decimal))
Variable Type Address Description
_NCyy_Ready BOOL %FX524288 NC Ch. yy NC ready
_NCyy_Warning BOOL %FX524289 NC Ch. yy warning occurrence
_NCyy_Alarm BOOL %FX524290 NC Ch. yy alarm occurrence
_NCyy_ResetStatus BOOL %FX524291 NC Ch. yy reset state
_NCyy_CycStartBegin BOOL %FX524292 NC Ch. yy cycle start begin information
_NCyy_CycStartFinish BOOL %FX524293 NC Ch. yy cycle start finish information
_NCyy_TargetQtyCmpl BOOL %FX524294 NC Ch. yy target quantity reached signal
_NCyy_PrgmNormalCmpl BOOL %FX524295 NC Ch. yy normal completion of program
execution
_NCyy_PwrFailInAuto BOOL %FX524296 NC Ch. yy power failure in automatic operation
_NCyy_ErrorCode WORD %FW32770 NC Ch. yy error code
_NCyy_IPR_HeartBeat UDINT %FD16386 NC Ch. yy IPR HeartBeat
_NCyy_IPR_Run BOOL %FX524384 NC Ch. yy IPR operation state (0:stop,
1:running)
_NCyy_IPR_WaitEoM BOOL %FX524400 NC Ch. yy waiting end of motion state (0: not
waiting, 1:waiting)
_NCyy_IPR_EndOfMot UINT %FW32776 NC Ch. yy end of motion
_NCyy_IPR_AfBufSts UINT %FW32777 NC Ch. yy AutoFIFO buffer state (0: empty,
another: buffer usage)
_NCyy_IPR_ErrorCode UINT %FW32778 NC Ch. yy IPR error code
_NCyy_PA_ErrorCode UINT %FW32779 NC Ch. yy program access error code
_NCyy_IPR_AlarmSts ARRAY[0..4] OF DWORD %FD16390 NC Ch. yy IPR alarm information
_NCyy_CycleStart BOOL %FX524672 NC Ch. yy cycle start state
_NCyy_FeedHold BOOL %FX524673 NC Ch. yy feed hold state
_NCyy_AutoOperation BOOL %FX524674 NC Ch. yy automatic operation state
_NCyy_RetraceMove BOOL %FX524675 NC channel yy Signal to confirm reverse
operation
_NCyy_RapidTrvsOpr BOOL %FX524736 NC Ch. yy rapid traverse operation
_NCyy_CuttingFeedOpr BOOL %FX524737 NC Ch. yy cutting feed operation
_NCyy_ConstSurfSpeed BOOL %FX524738 NC channel yy Signal controlling constant
surface speed
_NCyy_TargetVelocity LREAL %FL8200 NC Ch. yy target velocity (F command value)
_NCyy_CmdVelocity LREAL %FL8201 NC Ch. yy command velocity
_NCyy_TVelOfSpindle LREAL %FL8203 NC Ch. yy spindle target velocity (S command
value)
_NCyy_CVelOfSpindle LREAL %FL8204 NC Ch. yy spindle command velocity
_NCyy_FeedOverride LREAL %FL8206 NC Ch. yy feed override

A1-10
 Appendix1 Flag List

Variable Type Address Description

_NCyy_RapidOverride LREAL %FL8207 NC Ch. yy rapid override
_NCyy_SpindleOverride LREAL %FL8208 NC Ch. yy spindle override
_NCyy_SpindleStop BOOL %FX525376 NC Ch. yy spindle stop state
_NCyy_SpindleCW BOOL %FX525377 NC Ch. yy spindle CW operation
_NCyy_SpindleCCW BOOL %FX525378 NC Ch. yy spindle CCW operation
_NCyy_SpindleOrient BOOL %FX525379 NC channel yy Signal to confirm spindle orientation
status
_NCyy_SpindleCVelAgr BOOL %FX525380 NC Ch. yy spindle command velocity reached signal
_NCyy_SpindleZeroVel BOOL %FX525381 NC Ch. yy spindle zero velocity reached signal
_NCyy_SpindlePosCtrl BOOL %FX525382 NC channel yy Signal to confirm spindle position control
mode status
_NCyy_SpindleSSCtrl BOOL %FX525383 NC channel yy Signal to confirm main axis SS control
mode status
_NCyy _MainSpindle UDINT %FW32840 NC channel yy Confirm the main spindle axis number
_NCyy_DwellCount UDINT %FD16422 NC Ch. yy dwell count
_NCyy_ErrorBlockNum UDINT %FD16423 NC Ch. yy error block number
_NCyy_BlockCmdType UINT %FW32848 NC Ch. yy command type of current block
_NCyy_CurrentToolNum UINT %FW32856 NC Ch. yy current tool number
_NCyy_ToolRadiusComp UINT %FW32857 NC Ch. yy offset number of current tool radius
compensation
_NCyy_ToolLengthComp UINT %FW32858 NC Ch. yy offset number of current tool length
compensation
_NCyy_McodeStrobe BOOL %FX526080 NC Ch. yy M code output strobe signal
_NCyy_McodeDistCmpl BOOL %FX526081 NC Ch. yy M code distribution complete signal
_NCyy_McodeM00 BOOL %FX526082 NC Ch. yy special M code output signal(M00)
_NCyy_McodeM01 BOOL %FX526083 NC Ch. yy special M code output signal(M01)
_NCyy_McodeM02 BOOL %FX526084 NC Ch. yy special M code output signal(M02)
_NCyy_McodeM30 BOOL %FX526085 NC Ch. yy special M code output signal(M30)
_NCyy_McodeData UDINT %FD16441 NC Ch. yy M code data output
_NCyy_ScodeStrobe BOOL %FX526144 NC Ch. yy S code output strobe signal
_NCyy_ScodeDistCmpl BOOL %FX526145 NC Ch. yy S code distribution complete signal
_NCyy_ScodeData UDINT %FD16443 NC Ch. yy S code data output
_NCyy_TcodeStrobe BOOL %FX526208 NC Ch. yy T code output strobe signal
_NCyy_TcodeDistCmpl BOOL %FX526209 NC Ch. yy T code distribution complete signal
_NCyy_TcodeData UDINT %FD16445 NC Ch. yy T code data output
_NCyy_CycleTime REAL %FD16446 NC Ch. yy machining cycle time
_NCyy_TotalRunTime REAL %FD16447 NC Ch. yy total machining cycle time
_NCyy_PartCount UDINT %FD16448 NC Ch. yy machining quantity
_NCyy_PartCountByM99 UDINT %FD16449 NC Ch. yy M99 machining quantity at repeat machining

A1-11
 Appendix1 Flag List

Variable Type Address Description

_NCyy_MainProgram STRING %FB65800 NC Ch. yy main program name
_NCyy_CurrentProgram STRING %FB65832 NC Ch. yy current running program name
_NCyy_MainBlkNum UDINT %FD16466 NC Ch. yy block number of main program
_NCyy_CurrentBlkNum UDINT %FD16468 NC Ch. yy block number of current running program
_NCyy_ModalG_OneShot REAL %FD16476 NC Ch. yy G code modal value group 0 - One shot
_NCyy_ModalG_Motion REAL %FD16477 NC Ch. yy G code modal value group 1 - Motion
_NCyy_ModalG_CmdMode REAL %FD16479 NC Ch. yy G code modal value group 3 - Command
mode (ABS or INC)
_NCyy_ModalG_Mirror REAL %FD16480 NC channel yy G Code Modal Value Group 4 - Mirror
_NCyy_ModalG_Feed REAL %FD16481 NC Ch. yy G code modal value group 5 - Feed mode
_NCyy_ModalG_Unit REAL %FD16482 NC Ch. yy G code modal value group 6 - Unit
_NCyy_ModalG_TRComp REAL %FD16483 NC Ch. yy G code modal value group 7 - Tool radius
compensation
_NCyy_ModalG_Stroke REAL %FD16485 NC Ch. yy G code modal value group 9 - Stroke check
_NCyy _ModalG_Scale REAL %FD16487 NC channel yy G Code Modal Value Group 11 - Scale
_NCyy _ModalG_Macro REAL %FD16488 NC channel yy G Code Modal Value Group 12 - Macro
_NCyy_ModalG_TLComp REAL %FD16489 NC Ch. yy G code modal value group 13 - Tool length
compensation
_NCyy_ModalG_WpCoord REAL %FD16490 NC Ch. yy G code modal value group 14 - Workpiece
coordinate system
_NCyy_ModalG_CutMode REAL %FD16491 NC channel yy G Code Modal Value Group 15 -
CutMode
_NCyy_ModalG_Plane REAL %FD16492 NC Ch. yy G code modal value group 16 - Circular plane
_NCyy_ModalG_RPolar REAL %FD16496 NC Ch. yy G code modal value group 20 - Reverse polar
coordinate interpolation
_NCyy_ModalG_CylIntp REAL %FD16498 NC Ch. yy G code modal value group 22 - Cylindrical
interpolation
_NCyy _ModalG_Skip REAL %FD16499 NC channel yy G Code Modal Value Group 23 - Skip
_NCyy_ModalFeed LREAL %FL8254 NC Ch. yy modal feed
_NCyy_ModalScode UDINT %FD16510 NC Ch. yy modal S code
_NCyy_ModalSpindleM UDINT %FD16511 NC Ch. yy modal spindle M code
_NCyy_ModelMcode UDINT %FD16512 NC Ch. yy Modal M Code
_NCyy_ModelHcode UDINT %FD16513 NC Ch. yy Modal H Code
_NCyy_ModalWorkCoord UDINT %FD16514 NC Ch. yy Modal Workpiece Coordinate

A1-12
 Appendix1 Flag List

7) NC channel/axis flag
It displays the state of axis configured on the NC channel. NC channel/axis flag is displayed as “_NCyy_X...”, “NCyy_Y…”
(yy indicates the NC channel No.( Decimal) and X,Y,Z,A,B,C,U,V,W is the assigned axis)
Variable Type Address Description
_NC01X_Ready BOOL %FX532480 NC Ch. 01 axis X ready
_NC01X_Warning BOOL %FX532481 NC Ch. 01 axis X warning occurrence
_NC01X_Alarm BOOL %FX532482 NC Ch. 01 axis X alarm occurrence
_NC01X_ServoOn BOOL %FX532483 NC Ch. 01 axis X servo On/Off
_NC01X_ServoReady BOOL %FX532484 NC Ch. 01 axis X servo ready
_NC01X_ServoAlarm BOOL %FX532485 NC Ch. 01 axis X servo alarm occurrence
_NC01X_OprRdy BOOL %FX532544 NC Ch. 01 axis X operation ready
_NC01X_FeedMode BOOL %FX532552 NC Ch. 01 axis X axis feed mode (0: linear axis, 1:
rotation axis)
_NC01X_LinkedAxNum UINT %FW33285 NC Ch. 01 axis X actual axis number of IPR axis
_NC01X_Busy BOOL %FX532608 NC Ch. 01 axis X busy state
_NC01X_Direction BOOL %FX532609 NC Ch. 01 axis X operation direction
_NC01X_ForwardRun BOOL %FX532610 NC Ch. 01 axis X running to positive direction
_NC01X_ReverseRun BOOL %FX532611 NC Ch. 01 axis X running to negative direction
_NC01X_RapidTraverse BOOL %FX532612 NC Ch. 01 axis X rapid traverse operation
_NC01X_CuttingFeed BOOL %FX532613 NC Ch. 01 axis X cutting feed operation
_NC01X_Homing BOOL %FX532614 NC Ch. 01 axis X homing operation
_NC01X_SpindleRun BOOL %FX532615 NC channel axis 01 X Spindle operation
_NC01X_PosCmpl BOOL %FX532672 NC Ch. 01 axis X positioning completion
_NC01X_Inposition BOOL %FX532673 NC Ch. 01 axis X in-position detection
_NC01X_HomeCmpl BOOL %FX532675 NC Ch. 01 axis X homing completion
_NC01_Mirror BOOL %FX532736 NC channel axis 01 X Signal to confirm Mirror
_NC01X_CmdPosInWC LREAL %FL8325 NC Ch. 01 axis X command position in workpiece
coordinate system
_NC01X_CmdPosInRC LREAL %FL8326 NC Ch. 01 axis X command position in relative
coordinate system
_NC01X_ActualVel LREAL %FL8327 NC Ch. 01 axis X actual current velocity
_NC01X_RemDistance LREAL %FL8329 NC Ch. 01 axis X remaining distance
_NC01X_PosDeviation LREAL %FL8330 NC Ch. 01 axis X servo position deviation (tracking error)
_NC01X_WcOffset LREAL %FL8334 NC Ch. 01 axis X offset value of workpiece coordinate
system
_NC01X_WcBasicOffset LREAL %FL8335 NC Ch. 01 axis X basic offset value of workpiece
coordinate system
_NC01X_WcShiftOffset LREAL %FL8336 NC Ch. 01 axis X shift offset value of workpiece
coordinate system
_NC01X_LocalWcOffset LREAL %FL8337 NC Ch. 01 axis X offset value of local workpiece
coordinate system

A1-13
 Appendix1 Flag List

Variable Type Address Description

_NC01X_CmdPosInMC LREAL %FL8339 NC Ch. 01 axis X command position in machine
coordinate system
_NC01X_ActualPosInMC LREAL %FL8341 NC Ch. 01 axis X actual current position in machine
coordinate system
_NC01X_SkipPosInMC LREAL %FL8342 NC channel axis 01 X Position value of machine
displaying skip signal
_NC01X_AxErr WORD %FW33372 NC Ch. 01 axis X error code
_NC01X_DrvErr WORD %FW33373 NC Ch. 01 axis X drive error code

8) SD memory flag
Variable Type Address Description
_SD_Attach BOOL %KX8256 SD attachment state
_SD_Rdy BOOL %KX8257 SD memory ready
_SD_Err BOOL %KX8258 SD memory error
_SD_Init BOOL %KX8259 SD memory initializing state
_SD_Closing BOOL %KX8260 SD memory closing state
_SD_FATErr BOOL %KX8261 File System Error
_SD_AutoLogAct BOOL %KX8262 Act Auto-logging
_SD_Busy BOOL %KX8263 SD memory busy state
_SD_SpaceWarn BOOL %KX8264 SD memory insufficient state
_SD_Detach BOOL %KX8265 SD memory detachment state
_SD_VolTot UDINT %KD259 SD memory storage capacity(GB)
_SD_VolAvail UDINT %KD260 Available storage capacity(KB)
_SD_Ecode WORD %KW522 SD memory error code
_SD_FmtInfo WORD %KW523 SD memory format information
_SD_FmtRun BOOL %KX8368 SD memory format operation state
_SD_FmtDone BOOL %KX8369 SD memory format complete state
_SD_FmtErr BOOL %KX8370 SD memory format fail state
_SD_FmtEcode WORD %KW524 SD memory format error code
_SD_FmtProgress WORD %KW525 SD memory format progress ratio (%)
_SD_AttachCnt WORD %KW526 SD memory attachment count
_SD_DetachCnt WORD %KW527 SD memory detachment count
_SD_AddfuncAct BOOL %KX8640 SD additional function operation state
_SD_AddfuncErr BOOL %KX8641 SD additional function error state
_SD_AddfuncDone BOOL %KX8642 SD additional function complete state
_SD_CmpResult BOOL %KX8643 SD result of comparison
_SD_AddfuncKind WORD %KW541 SD type of additional function
_SD_AddfuncEcode WORD %KW542 SD additional function error code

A1-14
 Appendix1 Flag List

9) Data log flag

Variable Type Address Description
_DL00_Enable BOOL %KX8224 Group 00 datalog enable state
_DL00_Rdy BOOL %KX8960 Group 00 datalog ready
_DL00_Act BOOL %KX8961 Group 00 datalog operation state
_DL00_Err BOOL %KX8962 Group 00 datalog error state
_DL00_Stoping BOOL %KX8963 Group 00 datalog stoping state
_DL00_Finish BOOL %KX8964 Group 00 datalog finish state
_DL00_Trig BOOL %KX8965 Group 00 trigger occurrence state
_DL00_TrigDone BOOL %KX8966 Group 00 trigger complete state
_DL00_Evt BOOL %KX8967 Group 00 event occurrence state
_DL00_Ovf BOOL %KX8968 Group 00 buffer overflow state
_DL00_Ecode WORD %KW561 Group 00 datalog error code
_DL00_FileIdx WORD %KW562 Group 00 datalog file index number
_DL00_FileRollcnt WORD %KW563 Group 00 overwrite count
_DL00_FileSize UDINT %KD282 Group 00 file size(Byte)
_DL00_DataRow UDINT %KD283 Group 00 data row number
_DL00_RemainBuf UDINT %KD284 Group 00 remaining buffer size(Byte)
_DL00_WaitingData UDINT %KD285 Group 00 waiting data size(Byte)
_DL00_OvfCnt WORD %KW572 Group 00 buffer overflow count
_DL00_TrigCnt WORD %KW573 Group 00 trigger occurrence count
_DL00_TrigOvlap WORD %KW574 Group 00 trigger overlap count
_DL00_EvtgCnt WORD %KW575 Group 00 event occurrence count

10) Encoder flag

Variable Type Address Description
_ENC1_POS LREAL %KL0 Encoder1 input position
_ENC2_POS LREAL %KL1 Encoder2 input position
_ENC1_UNIT UINT %KW8 Encoder1 unit (0:pulse, 1:mm, 2:inch, 3:degree)
_ENC2_UNIT UINT %KW9 Encoder2 unit (0:pulse, 1:mm, 2:inch, 3:degree)
_ENC1_VEL LREAL %KL3 Encoder 1 velocity
_ENC2_VEL LREAL %KL4 Encoder 2 velocity
_ENC1_POS_LATCH LREAL %KL5 Encoder 1 Input Position Latch
_ENC2_POS_LATCH LREAL %KL6 Encoder 2 Input Position Latch

A1-15
 Appendix1 Flag List

10) P2P flag

Variable Type Address Description
_P2Pn_NDRxx BOOL P2P Parameter n times xx block service
P2P parameter n times xx block service abnormal
_P2Pn_ERRxx BOOL
completion
Refer to
Error code is displayed when P2P parameter n
_P2Pn_STATUSxx WORD XG5000 P2P
times xx block service abnormal completion.
Global/Direct
Displays the number of P2P parameter n times xx
_P2Pn_SVCCNTxx DWORD Variable
block service normal execution.
Displays the number of P2P parameter n times xx
_P2Pn_ERRCNTxx DWORD
block service abnormal execution.

A1-16
 Appendix 2 Error Information and measurement

It describes the error information of the motion control module and how to deal with it.

(1) Function block error information

Error code
Error Description Action
Hex Dec
The motion function block is not executed in the version of current
The current motion control module does not
0005 5 motion control module. Check the version in which the motion
support the corresponding function block.
function block can be executed.
Axis number of motion function block (Axis input)
0006 6 or encoder number (Encoder input) exceeded Set axis and encoder numbers with a range by product.
allowable range.
Axis group number of function block (AxesGroup
0007 7 Set axis group number to a value between 1 and 16.
input) exceeded allowable range.
NC channel of function block exceeded allowable Check the range of NC channel, and set again.
0008 8
range.
0009 9 Slave number of function block (Slave input) Check the range of slave number, and set again.
exceeded allowable range.
000B 11 Input of function block exceeded allowable range. Check the input range of function block, and set again.
000C 12 Array input of function block exceeded allowable Check the array input size of function block, and set again.
range.
0012 18 Internal execution error of function block occurred The current controller version may cause problems. Please check
during the execution of the function block. the supported version of XG5000 and controller.
0013 19 Motion response error occurred during the The current controller version may cause problems. Please check
execution of function block. the supported version of XG5000 and controller.
0014 20 CAM ID (CamTableID input) of function block Check the CAM ID range of function block, and set again.
exceeded allowable range.
0015 21 Jog operation was stopped by another command. If re-execution of jog operation is necessary, turn Enable input off
and then on.

(2) System error information

Error code
Error Description Action
Hex Dec
000E 14 System error A / S request if repeated on power up
0017 23 Program error Startup after program modification and reloading
Check retention status after uploading basic parameters If it is
0019 25 Basic parameter error broken, fix it and download it again to check the operation. Exchange
if the problem persists.
Check retention status after uploading built-in parameters If it is
002B 43 Built-in parameter - Encoder error broken, fix it and download it again to check the operation. Exchange
if the problem persists.
002C 44 Axis parameter error Re-download after modifying parameters
002D 45 Axis group parameter error Re-download after modifying parameters

Appendix2-1
 Appendix 2 Error Information and measurement

Error code
Error Description Action
Hex Dec
002E 46 EtherCAT parameter error Re-download after modifying parameters
002F 47 NC parameter error Re-download after modifying parameters
0030 48 NC program detection error Re-download after checking the program
Repair and restart the wrong device by referring to the fault detection
0032 50 Significant error detection in external device
flag of the external device (according to the parameter).
Check the main task and cycle flag and re-download after modifying
0038 56 Main task period error the main task program or download by increasing the main task
cycle of the basic parameter.
Check the cycle task and cycle flag and re-download after modifying
0039 57 Cycle task period error the cycle task program or download by increasing the cycle task
cycle of the basic parameter
1) Secure the time for the system service to operate by reducing the
amount of the user program execution within the main task/cycle
task.
003A 58 Task program occupancy excess error
2) Please set the execution cycle of the main task/cycle task in the
basic parameter higher to secure time for the internal service of the
system to operate.
003B 59 Local Ethernet parameter check error Re-download after modifying parameters
Using RTC clock function, resetting and ouccuring repeatly, request
01F5 501 RTC data error
A/S.

(3) SD memory card error information

Error code
Error Description Action
Hex Dec
Overall Error Codes
0001 1 SD Card Recognition Error Format in FAT32 format and connect SD memory.
0002 2 Partition Information Error Format in FAT32 format and connect SD memory.
0003 3 File system error Format in FAT32 format and connect SD memory.
0004 4 SD Card Not Supported Please connect SD Card with storage of 2GB~512GB.
SD memory capacity test failed, and thus SD cannot be used.
0005 5 SD card capacity check error Please replace SD memory or format the memory before
reconnecting.
SD memory storage is fully used, and data cannot be saved. Please
0006 6 SD Card Capacity Exceeded replace SD memory or format the memory before reconnecting.
Available storage is less than 20%
Failed to create folder on SD memory card (Please replace SD
0007 7 Folder Creation Failed
memory or format the memory before reconnecting.
Datalog group error code
1000 4096 Group No x folder creating error After formatting as FAT32, connect the SD memory.
2000 8192 Group No x file open error After formatting as FAT32, connect the SD memory.
4000 16384 Group No x file wtite error After formatting as FAT32, connect the SD memory.

Appendix 2-2
 Appendix 2 Error Information and measurement

Error code
Error Description Action
Hex Dec
SD Additional Function error code
0001 1 File error(file open failure, CRC error) After creating fie and then in operation.
0002 2 Damaged file (damaging Head, Tail etc.) After creating fie and then in operation.
In case the password set in SD card but it does not exsit in saved
0005 5 No password in file
file. After setting password and then create file.
The password set in PLC does not match with saved on SD card.
0006 6 Password mismatch
Check the password.
Setting MAC address does not match with MAC address of PLC.
0007 7 MAC address mismatch
Check MAC address and reset the address.
000A 10 No saved file There is no saved file on SD card. In operation after creating file.
000B 11 PLC mode is RUN status Check after PLC mode change to STOP.

(4) Analog error information

Error code
Error Description Action
Hex Dec
0064 0100 Input Channel 0 range setting error Set it to a configurable input range.
0065 0101 Input Channel 1 range setting error Set it to a configurable input range.
00C8 0200 Input Channel 0 filter value setting error Set it to a configurable filter value.
00C9 0201 Input Channel 1 filter value setting error Set it to a configurable filter value.
012C 0300 Input Channel 0 average value setting error Set it to a configurable average value.
012D 0301 Input Channel 1 average value setting error Set it to a configurable average value.
0190 0400 Output Channel 0 range setting error Set it to a configurable output range.
0191 0401 Output Channel 1 range setting error Set it to a configurable output range.
01F4 0500 Output Channel 0 Input value setting error Set it to a configurable input value.
01F5 0501 Output Channel 1 Input value setting error Set it to a configurable input value.
0258 0600 Output Channel 0 Interpolation method setting error Set it to a configurable Interpolation method range.
0259 0601 Output Channel 1 Interpolation method setting error Set it to a configurable Interpolation method range.

Appendix2-3
 Appendix 2 Error Information and measurement

(5) Cnet error information

1) XGT server error information
Error code
Error Description Action
Hex Dec
0003 0003 Block number excess error Set request block count to 16 or less
0004 0004 Variable length error Set variable length to 16 or less
0007 0007 Data type error Set the data type to X,B,W,D,L.
0011 0017 Data error Set with configurable data type, area and length.
0090 0144 Monitor execution error Please register for monitor execution.
When executing the monitor, set the registration number range
0190 0400 Monitor execution error
requested by the client to the configurable input range.
When registering monitor, set the registration number range
0290 0656 Monitor registration error
requested by the client to the configurable input range.
1132 4402 Device memory error Set it to an available device.
1232 4658 Data size error Set the data size to 60 words or less.
1234 4660 Spare frame error Remove unnecessary content of slack frames.
1332 4914 Data type mismatch error Remove unnecessary content of slack frames
1432 5170 Data value error Check if the data value can be converted to Hex.
7132 28978 Variable request area excess error Set the device to an available zone.

2) Modbus server error information

Error code
Error Description Action
Hex Dec
This is a function code that the server device does not support. Set
0001 0001 Function code error it after checking whether the function code is supported by the
Modbus server.
0002 0002 Address error Set the address range supported by the server device.
0003 0003 Data setting error Set the data type supported by the server device.
0004 0004 Server station abnormality error Check the error status of the server (slave) station.
The server is in a state where it cannot be processed due to a large
0005 0005 Server station retry request amount of processing. Request redelivery when client-side
processing time is available.
It is a state that takes time for the server station to process. A re-
0006 0006 Server station processing time delay
request must be made on the client side.

3) P2P client error information

Error code
Error Description Action
Hex Dec
0005 0005 P2P block Time out error Check server connection status and media settings.

4) PLC CPU self error information

Error code
Error Description Action
Hex Dec
There is no response within 5 seconds after the PLC makes a P2P
0015 0021 P2P client timeout error request to the communication module. Check the communication
module status.
0016 0022 P2P client device error An invalid device range was used. Please reset your device.

Appendix 2-4
 Appendix 2 Error Information and measurement

(5) Motion error information

Error code Alarm/
Error Description Action
Hex Dec Warning
The current controller version may cause problems.
The command data range sent from XG5000 is
0E00 3584 Please check the supported version of XG5000 and Warning
out of the allowed value.
controller.
XG5000 test run function cannot be executed Please execute the XG5000 test operation after putting the
0E01 3585 Warning
when the controller is in RUN status. controller in the STOP state.
If there is an axis in operation, cam data cannot
0E02 3586 Write cam data while all axes are not in operation. Warning
be written.
If there is an axis in operation, encoder Write encoder parameter while all axes are not in
0E03 3587 Warning
parameter cannot be written. operation.
When EtherCAT communication is connected, After disconnecting EtherCAT communication, write
0E04 3588 Warning
EtherCAT parameters cannot be written. network data.
Download the data from XG5000 again, and if it occurs
0E10 3600 Encoder parameter data is abnormal. Alarm
repeatedly after re-executing, request A/S.
Encoder 1 pulse input type of encoder parameter Set encoder 1 input signal of Encoder parameter to be
0E11 3601 Alarm
exceeded the setting range. between 0 and 5.
Encoder 1 maximum value of encoder For encoder 1 maximum value of encoder parameter,
0E12 3602 Alarm
parameter is out of pulse unit expression value. input 1 or more based on pulse unit.
Encoder 1 minimum value of encoder parameter For encoder 1 minimum value of encoder parameter, input
0E13 3603 Alarm
is out of pulse unit expression value. 1 or more based on pulse unit.
Encoder 1 pulse input Max/Min of encoder Set the minimum value of encoder 1 of encoder parameter
0E14 3604 Alarm
parameter exceeded the setting range. to be smaller than the maximum value.
Encoder 2 pulse input type of encoder parameter Set encoder 2 input signal of Encoder parameter to be
0E15 3605 Alarm
exceeded the range. between 0 and 5.
Encoder 2 maximum value of encoder For encoder 2 maximum value of encoder parameter,
0E16 3606 Alarm
parameter is out of pulse unit expression value. input 1 or more based on pulse unit.
Encoder 2 minimum value of encoder parameter For encoder 2 minimum value of encoder parameter, input
0E17 3607 Alarm
is out of pulse unit expression value. 1 or more based on pulse unit.
Encoder 2 pulse input Max/Min of encoder Set the minimum value of encoder 2 in the encoder
0E18 3608 Alarm
parameter exceeded the setting range. parameter to be smaller than the maximum value.
It is not possible to set the encoder input more
Check the encoder related items in the encoder parameter
0E19 3609 than the encoder setting of the encoder Alarm
and set it to a value within the range.
parameter.
Set pulse count per rotation of encoder1 in the encoder
Encoder 1 pulse count per rotation in the
0E1A 3610 parameter to be greater than 0 and less than or equal to Alarm
encoder parameter exceeded the setting range.
4294967295.
Set travel distance per rotation of encoder1 in the encoder
Encoder 1 travel distance per rotation in the
0E1B 3611 parameter to be greater than 0.000000001 and less than Alarm
encoder parameter exceeded the setting range.
or equal to 4294967295.
Set pulse count per rotation of encoder2 in the encoder
Encoder 2 pulse count per rotation in the
0E1C 3612 parameter to be greater than 0 and less than or equal to Alarm
encoder parameter exceeded the setting range.
4294967295.
Set travel distance per rotation of encoder2 in the encoder
Encoder 2 travel distance per rotation in the
0E1D 3613 parameter to be greater than 0.000000001 and less than Alarm
encoder parameter exceeded the setting range.
or equal to 4294967295.
Encoder 1 input filter value in the encoder Set encoder 1 input signal in the encoder parameter to be
0E1E 3614 Alarm
parameter exceeded the setting range. between 0 and 6.

Appendix2-5
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning

Encoder 2 input filter value in the encoder Set encoder 2 input signal in the encoder parameter to
0E1F 3615 Alarm
parameter exceeded the setting range. be between 0 and 6.

Encoder 1 maximum and minimum values of encoder

Encoder 1 maximum and minimum values of parameters are set to include the current position of
0E20 3616 encoder parameters are set not to include the encoder 1. Or to operate with the set parameters, use Alarm
current position of encoder 1. the encoder preset command to change the encoder
current position to a value within the parameter range.
Encoder 2 maximum and minimum values of encoder
Encoder 2 maximum and minimum values of parameters are set to include the current position User.
0E21 3617 encoder parameters are set not to include the Or to operate with the set parameters, use the Alarm
current position of encoder 2. encoder preset command to change the encoder
current position to a value within the parameter range.
Encoder 1 position latch value in the encoder Set encoder 1 position latch in the encoder parameter
0E22 3618 Alarm
parameter exceeded the setting range. to be between 0 and 1.
Encoder 2 position latch value in the encoder Set encoder 2 position latch in the encoder parameter
0E23 3619 Alarm
parameter exceeded the setting range. to be between 0 and 1.
Download the data from XG5000 again, and if it
0E30 3632 EtherCAT parameter data is abnormal. Alarm
occurs repeatedly after re-executing, request A/S.
The number of constant period communication Set the constant period communication timeout
0E31 3633 timeouts of the EtherCAT parameter exceeded number of the EtherCAT parameter to a value Alarm
the range. between 1 and 8.
An error occurred while parsing EtherCAT
0E32 3634 Check the EtherCAT parameters, and set again. Alarm
parameters.
Connection command cannot be executed with
0E40 3648 Check the EtherCAT parameters, and set again. Warning
EtherCAT parameter error.
Check that the network connection command is not
0E41 3649 Network connection command is running. entered again while the network connection command Warning
is being executed.
Check that the network disconnection command is not
0E42 3650 A network disconnect command is running. entered again while the network disconnection Warning
command is being executed.
The connect/disconnect command cannot be Check that no mode switching is executed during
0E43 3651 Warning
executed with mode switching. network connect/disconnect command operation.
The connect/disconnect command cannot be Check that no ESTOP Command is executed during
0E44 3652 Warning
executed with ESTOP Command. network connect/disconnect command operation.
Check the encoder related items of the encoder
Unable to execute encoder preset command due parameter to see if it is set to a value within the range,
0E50 3664 Warning
to encoder parameter error. and set the encoder parameter to a normal value
using XG5000.
When there is an axis that operates the corresponding
Preset command cannot be done because of the
0E51 3665 encoder as the main axis, check if the encoder preset Warning
axis which using relevant encoder as a main axis
command is input to the corresponding encoder.

Appendix 2-6
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
The encoder preset position is out of the range of Set the encoder preset position to a range greater than
0E52 3666 the maximum or minimum value of relevant or equal to the minimum value of relevant encoder and Warning
encoder. less than or equal to the maximum value.
The encoder selection of the encoder preset For encoder selection, set a value between 0 and 1 (0:
0E53 3667 Warning
command exceeded the range. Encoder 1, 1: Encoder 2).
The command to set encoder current position
cannot be executed because the built-in ENC1 is Check that the built-in ENC1 is not set as the encoder
0E54 3668 set as the encoder of the spindle axis connected to the spindle axis in the 'Spindle encoder Warning
automatically controlled by the NC function selection' item of the axis parameters.
module.
The command a set encoder current position
cannot be executed because the built-in ENC2 is Check that the built-in ENC2 is not set as the encoder
0E55 3669 set as the encoder of the spindle axis connected the spindle axis in the 'Spindle encoder Warning
automatically controlled by the NC function selection' item of the axis parameters.
module.
Download the basic parameters from XG5000 again,
A command cannot be executed with basic
0E60 3680 and if it occurs repeatedly basic parameter error after Alarm
parameter data error.
re-executing, request A/S.
Download the data from XG5000 again, and if it
0E61 3681 CAM data is abnormal. Alarm
occurs repeatedly after re-executing, request A/S.
Please execute it again after the previously executed
0E80 3712 LS_SaveMotionData command is running. Alarm
LS_SaveMotionData command is completed.
Execute the LS_SaveMotionData command again in
An error occurred while executing the
0E81 3713 XG5000, and if it occurs repeatedly after re-executing, Alarm
LS_SaveMotionData command.
request A/S.
Exceeded the mode range of the Set Mode to 0 or 1 (0: save only changed motion data,
0E82 3714 Alarm
LS_SaveMotionData command. 1: save all motion data)
Error executing all axis command MC_PowerAll. Check if the axis is in a state where the command can
0E90 3728 Warning
be executed and execute the command again.
Error executing all axis command MC_HomeAll. Check if the axis is in a state where the command can
0E91 3729 Warning
be executed and execute the command again.
Error executing all axis command LS_HomeAll. Check if the axis is in a state where the command can
0E92 3730 Warning
be executed and execute the command again.
Error executing all axis command MC_StopAll. Check if the axis is in a state where the command can
0E93 3731 Warning
be executed and execute the command again.
Error executing all axis command MC_HaltAll. Check if the axis is in a state where the command can
0E94 3732 Warning
be executed and execute the command again.
Error executing all axis command MC_Reset2All. Check if the axis is in a state where the command can
0E95 3733 Warning
be executed and execute the command again.
Error executing all axis command Check if the axis is in a state where the command can
0E96 3734 Warning
MC_SetPositionAll. be executed and execute the command again.
Check the communication cable connection status
and slave operation status (power on and error
0F00 3840 Failed to change to EtherCAT INIT state. Alarm
occurrence). Make sure communication cables are not
exposed to noise.

Appendix2-7
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Check the communication cable connection status
and slave operation status (power on and error
0F06 3846 EtherCAT INIT status initialization (DC_INIT) error. Alarm
occurrence). Make sure communication cables are not
exposed to noise.
If there is a slave connected to the controller, check
that the communication cable between the controller
There is no EtherCAT slave connected to the
0F09 3849 and the EtherCAT slave is properly installed, that the Alarm
controller.
power is normally supplied to the EtherCAT slave, or
that the communication cable is not exposed to noise.
The maximum number of connected slaves has Check that there are not exceed 64 EtherCAT slaves
0F0A 3850 Alarm
been exceeded. connected to the controller
There is a difference in node ID and network Check that the network cable connection sequence
0F0E 3854 Alarm
settings. matches the network settings.
Check if the node ID is duplicated or there is an error
0F0F 3855 There is wrong with the node ID setting. Alarm
in the setting.
Check the communication cable connection status
and slave operation status (power on and error
0F10 3856 Failed to change to EtherCAT PREOP state. Alarm
occurrence). Make sure communication cables are not
exposed to noise.
Send slave parameters to the controller using
0F1E 3870 No network setting data. Alarm
XG5000.
Transmit the slave parameters after connecting the
The network setting data and the connected slave
0F1F 3871 slave using the network slave automatic connection Alarm
are different.
using XG5000.
Check the communication cable connection status
and slave operation status (power on and error
0F20 3872 Failed to change to EtherCAT SAFEOP state. Alarm
occurrence). Make sure communication cables are not
exposed to noise.
Check the communication cable connection status
and slave operation status (power on and error
0F30 3888 Failed to change to EtherCAT OP state. Alarm
occurrence). Make sure communication cables are not
exposed to noise.
Check the communication cable connection status
and slave operation status (power on and error
0F40 3904 Failed to change EtherCAT OP state to INIT state. Alarm
occurrence). Make sure communication cables are not
exposed to noise.
Check the communication cable connection status
There is no response in the communication and slave operation status (power on and error
0F50 3920 Alarm
connection state. occurrence). Make sure communication cables are not
exposed to noise.
A constant cycle communication error has Check that the servo power is not turned off during
occurred. (A communication error exceeding the communication, the communication cable is installed
0F51 3921 Alarm
number of master parameter constant cycle normally, or the communication cable is not exposed
communication timeouts occurred.) to noise.
A constant cycle communication error has
0F52 3922 occurred. Please check the AL Status Code of the slave. Alarm
(AlStatus error occurred in slave)

Appendix 2-8
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Check and set the slave device address (Adp) range
The slave device address (Adp) setting value of
0F60 3936 according to the EtherCAT command code (EcatCmd) Warning
the ESC read command exceeded the range.
setting value.
The data size setting value of the ESC read Set the data size setting value of the ESC read
0F61 3937 Warning
command exceeded the range. command to 1 to 4 (BYTE)
The EtherCAT command code (EcatCmd) setting Set the EtherCAT command code to one of 1 (APRD),
0F62 3938 Warning
value of the ESC read command is incorrect. 4 (FPRD), or 7 (BRD).
Check whether the slave device designated as Adp is
There is no response from the slave device to the
0F63 3939 installed normally or if the Ado address value is in the Warning
ESC read command.
read-allowed area.
ESC read command cannot be executed when Change the status of the slave to PreOP, SafeOP, or
0F64 3940 Warning
the slave is in Init state. OP, then execute again.
Check and set the slave device address (Adp) range
The slave device address (Adp) setting value of
0F70 3952 according to the EtherCAT command code (EcatCmd) Warning
the ESC write command exceeded the range.
setting value.
The data size setting value of the ESC write Set the data size setting value of the ESC write
0F71 3953 Warning
command exceeded the range. command to 1 to 4 (BYTE)
The EtherCAT command code (EcatCmd) setting Set the EtherCAT command code to one of 2
0F72 3954 Warning
value of the ESC write command is incorrect. (APWR), 5 (FPWR), or 8 (BWR).
Check whether the slave device designated as Adp is
There is no response from the slave device to the
0F73 3955 installed normally or if the Ado address value is in the Warning
ESC write command.
write allowed area.
The area designated by the ESC address (Ado)
In the ESC write command, set the writable ESC
cannot be written while the communication
address (Ado) during communication
0F74 3956 connection/disconnection command is being Warning
connection/disconnection command execution or
executed or in the communication connection
communication connection status.
state.

ESC write command cannot be executed when Change the status of the slave to PreOP, SafeOP, or
0F75 3957 Warning
the slave is in Init state. OP, then execute again.

Normal operation related to encoder input cannot

0FF2 4082 If it occurs repeatedly during retry, please request A/S. Alarm
be executed due to the controller H/W error.
Axes are not ready to operating (No is not Execute the command when the axis is ready for
1000 4096 Warning
connected.) operation.
Check the operable axis status of the command, and
1001 4097 Cannot run in "Disabled" state. execute the command in the status where the Warning
command can be operated.
Check the operable axis status of the command, and
1002 4098 Cannot run in "Standstill" state. execute the command in the status where the Warning
command can be operated.
Check the operable axis status of the command, and
1003 4099 Cannot run in "Discrete" state. execute the command in the status where the Warning
command can be operated.
Check the operable axis status of the command, and
1004 4100 Cannot run in "Continuous" state. execute the command in the status where the Warning
command can be operated.
1005 4101 Cannot run in "Synchronized" state. Check the operable axis status of the command, and Warning

Appendix2-9
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
execute the command in the status where the
command can be operated.
Check the operable axis status of the command, and
1006 4102 Cannot run in "Homing" state. execute the command in the status where the Warning
command can be operated.
Check the operable axis status of the command, and
1007 4103 Cannot run in "stopped" state. execute the command in the status where the Warning
command can be operated.
Check the operable axis status of the command, and
1008 4104 Cannot run in "ErrorStop" state. execute the command in the status where the Warning
command can be operated.
Execute the command after changing the axis group
Motion command cannot be executed when the
100A 4106 to GroupDisabled with the axis group disable Warning
affiliated axis group is active.
command.
This command cannot be executed on the virtual axis.
100B 4107 This command cannot be given to the virtual axis. Check that the command is not executed on the virtual Warning
axis.
If it is registered as NC channel/axis and NC Check the operable axis status of the command, and
100C 4108 control operation is in progress, the corresponding execute the command in the status where the Warning
command cannot be executed. command can be operated.
Check if the setting axis of the relevant command is
The command cannot be executed because the registered in the axis parameter. Axis can be
100D 4109 Warning
axis is not active. registered in axis parameter among motion data items
of XG5000.
While the motion test operation command is being
Check that the controller has not changed to 'Run'
100E 4110 executed, it is changed to 'Run' and cannot Warning
state while the axis is running.
continue operation.
The controller is stopped by the ESTOP
Check that the controller is not stopped by ESTOP
100F 4111 command and the axis operation cannot be Alarm
command during axis operation.
continued.
The controller has changed to 'Stop' or 'Error' Check that the controller has not changed to ’Stop’ or
1010 4112 Alarm
status and operation cannot be continued. 'Error' state while the axis is running.
Check if the network connection is not disconnected
Since the network connection was disconnected,
1011 4113 due to slave power error, network cable error, or noise Alarm
operation cannot be continued.
inflow on the network cable while the axis is running.
Set the command position so that it does not exceed
the 32-bit INT range (-2147483648 ~ 2147483647)
The absolute target position where the position when the absolute target position value reflecting the
1012 4114 setting value of the command is reflected is out of position setting value of the command is converted Warning
the pulse unit position expression range. into pulse units. (When using the 'Position Control
Range Expansion' function, 48-bit INT range can be
set.)
The operating speed value is less than 0 or Set the operation speed value greater than 0 and less
1013 4115 Warning
exceeds the maximum speed value. than the maximum speed value set for the axis.
Set the acceleration value to a value greater than or
1014 4116 Acceleration is set to negative. Warning
equal to 0.
1015 4117 Deceleration is set to negative. Set the deceleration value to a value greater than or Warning

Appendix 2-10
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
equal to 0.
1016 4118 Jerk is set to negative. Set the Jerk value to a value greater than or equal to 0. Warning
Check the range of the direction setting value of the
1017 4119 The direction setting value is out of range. command, and set it within the range. (Refer to Warning
Chapter 6 Commands and Functions)
1018 4120 The torque setting value is out of range. Set the torque setting value within 1000%. Warning
Set torque ramp setting value to a value greater than
1019 4121 The torque ramp setting value is out of range. Warning
or equal to 0.
The Buffer Mode setting value is out of input
101A 4122 Set a settable value (0 to 5) in the buffer mode. Warning
range.
The Execution Mode setting value is out of input
101B 4123 Set a settable value (0 to 1) in the Execution Mode. Warning
range.
The deviation between the command position and the
current position is out of the 'Exceeding value of
A tracking error excess alarm occurs, and
101C 4124 tracking error’. In order not to occur an alarm, tune the Alarm
operation cannot be continued.
servo drive or set the 'Exceeding value of tracking
error' larger.
The deviation between the command position and the
current position is out of the 'Exceeding value of
Exceeding value of tracking error warning
101D 4125 tracking error’. In order not to occur an alarm, tune the Warning
occurred.
servo drive or set the 'Exceeding value of tracking
error' larger.
When the command position value was converted into
pulse units, it was out of the 32-bit area When the
The command position value transmitted to the
command position values is converted to a pulse, it set
101F 4127 servo drive is out of the pulse unit expression Alarm
within the range of -2147483648 to 2147483647)
value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
The command is not executed in the current version of
1020 4128 Undefined axis command the controller. Check the version in which the motion Warning
function block can be executed.
The corresponding motion command can only be
The same command was executed, thus executed once per scan. Change the operating
1021 4129 Warning
canceling the previously executed command. condition of the program so that one motion command
is executed per scan.
The command cannot be executed because the
The number of Buffered commands that can be command buffer of the corresponding axis is full. The
1022 4130 Warning
executed has been exceeded. number of Buffered Command that can be executed is
100. Adjust the command execution timing.
The value of the parameter exceeded the input Check the parameter input range and execute the
1023 4131 Warning
range. command.
Axis parameters cannot be written while the axis Write parameters when the relevant axis is not in
1030 4144 Warning
is running. operation.
Download the data from XG5000 again, and if it
1040 4160 Axis parameter data is abnormal. Alarm
occurs repeatedly after re-executing, request A/S.
1041 4161 Operation cannot be executed due to the axis Check the Axis parameters, and set again. Alarm

Appendix2-11
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
parameters error.
The speed limit of the axis parameter cannot be Set the speed limit of the basic parameter to a value
1042 4162 Warning
set to a value less than 0. greater than zero.
Axis parameter software upper/lower value Set the soft upper limit of the axis parameter to be
1043 4163 Warning
exceeds range. greater than or equal to the soft lower limit.
The current speed filter time constant value of the
1044 4164 Set the parameter setting value from 0 to 100. Warning
axis parameter exceeds the range.
Error reset monitoring time of axis parameter
1045 4165 Set the parameter setting value from 1 to 1000. Warning
exceeded the range.
The set value of transfer distance per rotation Set the parameter setting value to 0.000000001 or
1046 4166 Warning
exceeds the range more and 4294967295 or less.
Infinite length repeat position setting value Set the parameter setting value greater than 0 and
1047 4167 Warning
exceeded the range. less than or equal to 2147483647 in pulse units.
Set the parameter setting value to be greater than or
1048 4168 The in-position width setting value is out of range. equal to 0 and less than or equal to 2147483647 in Warning
pulse units.
Set the parameter setting value to be greater than or
The set value of Tracking error over range
1049 4169 equal to 0 and less than or equal to 2147483647 in Warning
exceeds the range
pulse units.
Set the parameter setting value to be greater than or
The current position display compensation
104A 4170 equal to 0 and less than or equal to 2147483647 in Warning
amount setting value exceeds the range.
pulse units.
Set the parameter setting value greater than 0, greater
The set value of JOG high speed speed exceeds
104B 4171 than the jog low speed value, and less than the speed Warning
the range
limit value.
Set the parameter setting value greater than 0, less
The set value of jog low speed speed exceeds the
104C 4172 than the jog high speed speed value, and less than the Warning
range
speed limit value.
The set value of jog acceleration exceeds the
104D 4173 Set the parameter setting value to 0 or higher. Warning
range
The set value of jog deceleration exceeds the
104E 4174 Set the parameter setting value to 0 or higher. Warning
range
104F 4175 The set value of jog jerk exceeds the range Set the parameter setting value to 0 or higher. Warning
The set value of gear ratio of motor side exceeds
1050 4176 Set the parameter setting value from 1 to 65535. Warning
the range
The set value of gear ratio of mechanical side
1051 4177 Set the parameter setting value from 1 to 65535. Warning
exceeds the range
The set value of pulse per rotation exceeds the Set the parameter setting value greater than 0 and
1052 4178 Warning
range less than or equal to 4294967295.
Set the device number of the slave that can be
The set value of connection device exceeds the
1053 4179 supported. The node setting range is 0 (no connection Warning
range
device), 1 to 64.
Set the parameter setting value to '0: real axis' or '1:
1054 4180 The set value of axis type exceeds the range Warning
virtual axis'.
The set value of speed command unit exceeds Set the parameter setting value to '0: unit /sec’, '1: unit
1055 4181 Warning
the range /min’, '2: rpm’.
1056 4182 The set value of blacklash compenstion amount Set the parameter setting value to be greater than or Warning

Appendix 2-12
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
exceeds the range. equal to 0 and less than or equal to 65535 in pulse
units.
Servo On cannot be executed due to a servo Check the error factor of the servo drive, remove the
1060 4192 Alarm
drive error. servo drive error, and then turn on the servo.
Check if the servo-on command is not executed again
Servo-on execution command was executed
1061 4193 in the program or XG5000 during servo-on Warning
again during servo-on processing.
processing.
Servo-on could not be completed because the Check the status of the servo drive. Servo-on
1062 4194 servo drive could not change to command may not be executed under certain Alarm
"ReadyToSwitchON" status. conditions.
Servo on could not be completed because the Check the status of the servo drive. Servo-on
1063 4195 servo drive could not be changed to "Switched command may not be executed under certain Alarm
on" status. conditions.
Servo on could not be completed because the Check the status of the servo drive. Servo-on
1064 4196 servo drive could not be changed to "operation command may not be executed under certain Alarm
enable" status. conditions.
Servo-on cannot be completed because the Check the status of the servo drive. Servo-on
1065 4197 "Quick Stop" function of the servo drive is command may not be executed under certain Alarm
activated. conditions.
Check if the servo off command is not executed again
Servo off execution command was executed
1066 4198 in the program or XG5000 during servo- Servo off Warning
again during servo- Servo-Off processing.
processing.
Servo off execution command execution is not
1067 4199 Check the the servo drive status. Alarm
completed.
The servo drive error was not removed after the error
The servo error reset monitoring time has been reset monitoring time set in the axis parameter
1070 4208 Warning
exceeded. passed. After removing the cause of the servo drive
error, execute the error reset command again.
Commands using absolute coordinates cannot be Execute the absolute coordinate operation command
1080 4224 executed in the absolute coordinates of the after making the homing state with the home return Warning
undecided homing state. command or the current position setting command.
In the state where infinite running repeat is
allowed, the target position is out of the infinite Set the target position within the infinite running
1081 4225 Warning
running repeat position range in the direction repeat position in the direction designation
designation.
SuperImposed commands cannot be executed
Execute the SuperImposed command while not
1082 4226 while operating with speed control or torque Warning
operating with speed control or torque control.
control.

A SuperImposed stop command cannot be Execute the SuperImposed stop operation command
1083 4227 Warning
executed while not operating a SuperImposed. while operating SuperImposed.

Execute the current position preset command after

The position value of the current position change setting the position setting value above the soft lower
1090 4240 Warning
command exceeded the range. limit value and below the soft upper limit value of the
extended parameter.

Appendix2-13
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
The current position change command cannot be Execute the current position change command when
1091 4241 executed during operation by homing, speed the relevant axis is not in operation of one of homing, Warning
synchronization, cam, or torque control. speed synchronization, cam, and torque control.
When the spindle axis is automatically controlled
After correctly setting the encoder connection method
by the NC function module, if the 'Spindle encoder
connected to the spindle axis in the 'Spindle encoder
1092 4242 selection' item of the axis parameter is '0: Warning
selection' item of the axis parameter, execute the axis
Disabled', the axis current position setting
current position setting command.
command cannot be executed.
If the 'Spindle encoder selection' item of the axis If the 'Spindle encoder selection' item of the axis
parameter is '1: Motor ENC', the 'Position actual parameter is '1: Motor ENC', add the 'Position actual
value (0x6064)' object does not exist in the value (0x6064)' object to the TxPDO setting of the
1093 4243 Warning
TxPDO setting of the EtherCAT slave connected EtherCAT slave connected to the spindle axis, resume
to the spindle axis, so the axis current position EtherCAT connection, and then execute the axis
setting command cannot be executed. current position setting command.
If the 'Spindle encoder selection' item of the axis
If the 'spindle encoder selection' item of the axis
parameter is '2: Built-in ENC1', set the encoder 1 unit =
parameter is '2: Built-in ENC1', the axis current
pulse, Encoder 1 maximum value = 2147483647,
1094 4244 position setting command cannot be executed Warning
Encoder 1 minimum value = -2147483648 and then
because the encoder 1 parameter setting is
execute the axis current position setting command.
incorrect.
Please run.
If the 'Spindle encoder selection' item of the axis
If the 'spindle encoder selection' item of the axis
parameter is '3: Built-in ENC2', set the encoder 2 unit =
parameter is '3: Built-in ENC2', the axis current
pulse, Encoder 2 maximum value = 2147483647,
1095 4245 position setting command cannot be executed Warning
Encoder 2 minimum value = -2147483648 and then
because the encoder 2 parameter setting is
execute the axis current position setting command.
incorrect.
Please run.
Servo drive does not support torque control Execute torque control using a servo drive that
10A0 4256 Warning
mode. supports CST mode of EtherCAT CoE.
There is no target torque object (0x6071) setting In the slave parameter of XG5000, set the target
10A1 4257 that can execute torque control in the RxPDO torque object (0x6071) that supports torque control in Warning
entry setting in the slave parameter. the RxPDO entry and send it to the controller.
Execute homing using a servo drive that supports is
10B0 4272 Servo drive does not support homing mode. Warning
'homing mode of EtherCAT CoE.
An error occurred during homing in the servo Check the error factor of the servo drive, remove the
10B1 4273 Warning
drive. servo drive error, and then execute homing.
The homing command cannot be executed while After the axis stops operating, execute the homing
10B2 4274 Warning
the axis is running. command again in the Standstill state.
The switch search speed value of the extended When converting the switch search speed value to
10B3 4275 homing command exceeded the range. pulse unit, set it to a value between 0 and Warning
1073741824.
The ZERO search speed value of the extended When converting the ZERO search speed value to
10B4 4276 homing command exceeded the range. pulse unit, set it to a value between 0 and Warning
1073741824.
The Homing acceleration value of the extended When converting homing acceleration value to pulse
10B5 4277 Warning
homing command exceeded the range. unit, set it to a value between 0 and 1073741824.
The Home offset value of the extended homing When converting home offset value to pulse unit, set it
10B6 4278 Warning
command exceeded the range. to a value between -2147483648 and 2147483647.

Appendix 2-14
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Failed to write extended homing command Among the parameters of the extended homing
parameters to the drive. command, there is an item that is not supported by the
10B7 4279 Warning
drive. (Refer to the user manual of the drive) Use the
basic homing command (MC_Home).
Override command cannot be executed if it is not Execute the override command while operating by
10C0 4288 Warning
operating with position/speed control. position control or speed control.
Set the VelFactor, AccFactor, and JerkFactor values of
The override factor of the override instruction
10C1 4289 the override command to 0 or more and execute the Warning
exceeded the range.
override command.
After reflecting factor of the override command,
Override within the range that does not exceed the
10C2 4290 the operation speed value exceeded the Warning
maximum speed value of the relevant axis.
maximum speed value.
Gear ratio denominator od gear operation cannot Set the gear ratio denominator to a non-zero value
10D0 4304 Warning
be zero. and execute the command.
Gear operation MasterValueSource setting value Set the MasterValueSource input values to 0~1 and
10D1 4305 Warning
exceeds the range. execute the command.
Set axis and encoder numbers with a range by
10D2 4306 Gear operation main axis setting is out of range. Warning
product.
The gear operation main axis setting is the same Set the main axis as an axis different from the sub axis
10D3 4307 Warning
as that of the sub axis. (command axis) and execute the command.
Gear operation main axis are not ready to Execute the command when the main axis is ready for
10D4 4308 Warning
operating operation.
Check the encoder related items of the encoder
If the gear operation main axis is set as an
parameter to see if it is set to a value within the range,
10D5 4309 encoder, the command cannot be executed due Warning
and set the encoder parameter to a normal value
to the occurrence of a common parameter error.
using XG5000.
MC_GearInPos command cannot be executed
Execute the MC_GearInPos command while the main
10D6 4310 when the main axis is operating under torque Warning
axis is not operating under torque control.
control.
Reduce the speed of the main axis or set a different
The speed of the gear operation sub-axis has gear ratio so that the speed of the sub-axis during gear
10D7 4311 Warning
exceeded the speed limit. operation does not exceed the speed limit set for the
sub-axis.
If it is not in gear operation, the gear release The gear release command can only be used during
10D8 4312 Warning
command cannot be executed. gear operation.

The command cannot be executed because the Execute the command after setting the target speed
target speed setting value of the positioning gear setting value of the positioning gear operation
10D9 4313 Alarm
operation command is smaller than the current command to be higher than the current operation
operation speed or gear operation speed. speed or gear operation speed.
Increase the target speed setting value of the
During the positioning gear operation operation,
positioning gear operation command or execute the
the subordinate axis cannot reach the subordinate
command after adjusting MasterStartDistance so that
10DA 4314 axis synchronous position at the set target speed Alarm
the subordinate axis can move to the subordinate axis
within the time the main axis operates to the main
synchronous position within the time that the main axis
axis synchronous position.
operates to the main axis synchronous position.
Synchronous operation commands (gear, cam, Execute the synchronous operation command (gear,
10DB 4315 Warning
etc.) cannot be executed when the main axis is in cam, etc.) while the main axis is not in homing

Appendix2-15
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
homing operation. operation.
There is no object setting that can execute the After setting the object that supports touch probe in the
10E0 4320 touch probe in the PDO entry setting in the slave PDO entry in the slave parameter of XG5000, transmit Warning
parameter. it to the controller.
Please set the TriggerInput setting value to 0 (Touch
10E1 4321 TriggerInput input setting value is out of range. Warning
Probe1) or 1 (Touch Probe2).
Set the TriggerInput setting value of the expansion
TriggerInput input setting value of expansion touch probe command to a value between 0 (Rising
10E2 4322 Warning
touch probe command is out of range. edge of TouchProbe1) and 5 (Index pulse of
TouchProbe2).
Set the TriggerMode setting value of the expansion
TriggerMode input setting value of expansion
10E3 4323 touch probe command to 0 (single trigger) or 1 Warning
touch probe command is out of range.
(continuous trigger).
Execute the command after setting the parameter
Parameter number setting value of parameter
10F0 4336 number setting value of the parameter read/write Warning
read/write command is out of range.
command between 0~28, 100~108, and 200~208.
The data set value of the parameter set in the Check the data setting range of the parameter you
10F1 4337 Warning
parameter write command is out of range. want to set.
When changing the corresponding encoder
Change the relevant parameter in advance so that no
parameter, the parameter cannot be changed
10F2 4338 error occurs when converting the encoder 1 maximum Warning
because the encoder 1 maximum value is out of
value into pulse units.
the pulse unit expression value.
When changing the corresponding encoder
Change the relevant parameter in advance so that no
parameter, the parameter cannot be changed
10F3 4339 error occurs when converting the encoder 1 minimum Warning
because the encoder 1 minimum value is out of
value into pulse units.
the pulse unit expression value.
When changing the corresponding encoder
Change the relevant parameter in advance so that no
parameter, the parameter cannot be changed
10F4 4340 error occurs when converting the encoder 2 maximum Warning
because the encoder 2 maximum value is out of
value into pulse units.
the pulse unit expression value.
When changing the corresponding encoder
Change the relevant parameter in advance so that no
parameter, the parameter cannot be changed
10F5 4341 error occurs when converting the encoder 2 minimum Warning
because the encoder 2 minimum value is out of
value into pulse units.
the pulse unit expression value.
Jog operation command cannot be executed
1100 4352 Execute the jog command while the axis is stopped. Warning
while the axis is in operation.
If the tool retract command is being executed in
When canceling the tool retract command of the NC
the NC channel, the jog operation command
1101 4353 channel or using the tool retract command, execute Warning
cannot be executed in more than one axis at the
the jog operation command on only one axis at a time.
same time.
There is an error in the cam operation A value of 0 cannot be entered in the MasterScaling
1110 4368 Warning
MasterScaling input value. input value.
There is an error in the cam operation Set the MasterStartDistance input values to a value
1111 4369 Warning
MasterStartDistance input value. greater than or equal to 0 and execute the command.
There is an error in the cam operation Set the MasterSyncPosition input values to a value
1112 4370 Warning
MasterSyncPosition input value. greater than or equal to 0 and execute the command.

Appendix 2-16
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Cam operation StartMode input value exceeded Set the StartMode input values to 0~1 and execute the
1113 4371 Warning
the range. command.
Cam operation MasterValueSource input value Set the MasterValueSource input values to 0~1 and
1114 4372 Warning
exceeded the range. execute the command.
Adjust the cam table number to a valid cam table
1115 4373 The specified cam table does not exist. Warning
number and execute the command.
Set axis and encoder numbers with a range by
1116 4374 Cam operation main axis setting is out of range. product. If the main axis is a variable, check that the Warning
VarOffset value does not exceed the memory area.
The cam operation main axis setting is the same Set the main axis as an axis different from the sub axis
1117 4375 Warning
as that of the sub axis. (command axis) and execute the command.
Cam operation main axis are not ready to Execute the command when the main axis is ready for
1118 4376 Warning
operating operation.
Check the encoder related items of the encoder
If the cam operation main axis is set as an
parameter to see if it is set to a value within the range,
1119 4377 encoder, the command cannot be executed due Warning
and set the encoder parameter to a normal value
to the occurrence of a common parameter error.
using XG5000.
Reduce the speed of the main axis or adjust cam table
The speed of the cam operation sub-axis has
111A 4378 so that the speed of the sub-axis during cam operation Warning
exceeded the speed limit.
does not exceed the speed limit set for the sub-axis.
If it is not in cam operation, the cam release The cam release command can only be used during
111B 4379 Warning
command cannot be executed. cam operation.
The cam data count setting value of the cam data Set the cam data number setting value of write cam
111C 4380 Warning
write command exceeded the range. data command between 1 and 100.
The specified cam table data of the cam data Set the cam data again, and if it occurs repeatedly
111D 4381 Warning
read command is abnormal. after re-executing, request A/S.
CAM skip command cannot be executed when it Execute the CAM skip command when operating
111E 4382 Warning
is not CAM operation. CAM.
The number of cam cycles to skip in the cam skip Set the number of CAM cycles to skip in the CAM skip
111F 4383 Warning
command is set to 0. command to be greater than 0.
Set the skip mode setting value of the cam skip
The skip mode setting value of the cam skip
1121 4385 command to a value between 0 and 2 and execute the Warning
command exceeded the range.
command.
Register the cam table or reset the data and execute
1122 4386 Cam table not registered. Warning
the command.
The cam data of the cam data write command is
1123 4387 Set the data of the cam data write command correctly. Warning
abnormal.
Cam main axis value does not exist within the Check the MasterStartPos and MasterEndPos values,
1124 4388 Warning
specified range and execute the command again.
The phase compensation command cannot be If the command axis of the phase compensation
executed if the command axis is not in InSync or command is in synchronous control operation,
1130 4400 Warning
InGear state of synchronous control (cam, gear execute the phase compensation command in InSync
operation) operation. or InGear status.
Execute the command after setting the main axis
There is an error in the main axis setting of the
1131 4401 setting of the phase compensation command to be the Warning
phase compensation command.
same as the actual main axis of the current

Appendix2-17
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
synchronous operation.
The phase compensation amount of the phase Execute the command after setting the phase
1132 4402 compensation command is out of the position compensation amount so that it falls within the range Warning
expression range. of -2147483648 to 2147483647 or less in pulse units.
Execute the command after setting the speed value of
The speed setting values of the phase
1133 4403 the phase compensation command to be greater than Warning
compensation command is out of the range.
0 and less than the speed limit of the main axis.
The connected slave device does not support Use a slave device that supports the Velocity mode of
1140 4416 Warning
speed control mode. EtherCAT CoE to execute speed control.
The connected slave device does not support Use a slave device that supports the CSP mode of
1150 4432 Warning
position control mode. EtherCAT CoE to execute position control.
Check if the slave is in a state that can execute SDO
The operation mode of the connected slave
service. If an error occurs repeatedly by re-executing
1151 4433 device (0x6060, Mode Of Operation) SDO read Warning
the command, reconnect EtherCAT with “EtherCAT
service failed.
Disconnect – Connect Command” before use.
Check if the slave is in a state that can execute SDO
Operation mode (0x6060, Mode Of Operation) of
service. If an error occurs repeatedly by re-executing
1152 4434 the connected slave device Timeout for SDO read Warning
the command, reconnect EtherCAT with “EtherCAT
request occurred.
Disconnect – Connect Command” before use.
Use a slave device that supports the synchronous
The connected slave device does not support
1160 4448 speed control (CSV) mode of EtherCAT CoE to Warning
synchronous speed control (CSV) mode.
execute speed control.
There is no target velocity object (0x60FF) setting After setting the target speed object (0x60FF)
that can execute synchronous speed control CSV supporting synchronous speed control (CSV) in the
1161 4449 Warning
of the RxPDO entry setting in the slave RxPDO entry of EtherCAT parameter slave data in
parameter. XG5000, transmit it to the controller.

The CmdPosMode setting value of synchronous CmdPosMode only supports a value of 0 (applies
1162 4450 speed control (CSV) operation exceeds the input current position as command position). Execute the Warning
range. command again after setting CmdPosMode to 0.
1170 4464 Part length value is not valid Part length value cannot be set less than 0. Warning
1171 4465 The perimeter value is not valid. The perimeter cannot be set to a value less than 0. Warning
The cutting start position cannot be set to a value
1172 4466 The cutting start position value is not valid. Warning
smaller than 1/4 of the circumference value.
The cutting end position cannot be set smaller than the
1173 4467 The cutting end position value is not valid. Warning
cutting start position or larger than 3/4 of the perimeter.
The value of the speed ratio of the cutting section must
1174 4468 The synchronous speed ratio value is not valid. Warning
be set between 50 and 200.
The value of 0 speed section must be set between 0
1175 4469 The 0 speed section ratio value is not valid. Warning
and 50.
Change the camp profile type value and run the
1176 4470 The cam profile type value is not valid. Warning
command.
1177 4471 The cam point count value is invalid. Change the camp point count and run the command. Warning
Change the cam curve type value and run the
1178 4472 The cam curve type value is not valid. Warning
command.
Change the length of the cutting section or change the
1179 4473 The cutting area is too wide. Warning
speed ratio value of the cutting section and execute

Appendix 2-18
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
the command.
Clear the error by executing the error reset command
1200 4608 A hardware upper limit error has occurred. after out of the external upper limit signal range using Alarm
the reverse jog command.
Clear the error by executing the error reset command
1201 4609 A hardware lower limit error has occurred. after out of the external lower limit signal range using Alarm
the reverse direction jog command.
The command cannot be executed due to an After removing the cause of the servo error, clear the
1203 4611 Alarm
error in the servo driver during operation. servo error with the error reset command.
Execute the command again after making the
The command cannot be executed because the
1204 4612 command axis into the servo-on state with the servo- Alarm
servo is off during operation.
on command.
Clear the error by executing the error reset command
1205 4613 A software upper limit error has occurred. after out of the software upper limit range using the Alarm
reverse jog command.
Clear the error by executing the error reset command
1206 4614 A software lower limit error has occurred. after out of the software lower limit range using the Alarm
forward direction jog command.
After checking the motion commands that can be
Motion commands related to traversing cannot be
executed for the axis assigned as the NC spindle axis,
1210 4624 executed if the spindle axis is automatically Warning
execute the motion commands allowed for the NC
controlled by the NC function module.
spindle axis.
Execute the command after setting the parameter
Parameter number setting value of motion
1220 4640 number value within of the motion information read Warning
information read/write command is out of range.
command between 0 and 5.

Master position loop control cannot be Execute/release master position loop control when the
1230 4656 Warning
enabled/disabled based operation. corresponding axis is not in operation.

The P gain input value of the master position loop Enter a value of 0 or more in the P gain of the master
1231 4657 Warning
control function block is negative. position loop control function block.

The I gain input value of the master position loop Enter a value of 0 or more in I gain of the master
1232 4658 Warning
control function block is negative. position loop control function block.

The control output limit value of the master Enter a value of 0 or more in the control output limit
1233 4659 Warning
position loop control function block is negative. value of the master position loop control function block.

Cross- coupled control cannot be Execute/release Cross-coupled control when the

1234 4660 Warning
enabled/disabled during operation. corresponding axis is not in operation.

The command axis and the connection axis of the Set different axes for the command axis and the
1235 4661 cross-coupled control function block must be connection axis of the cross-coupled control function Warning
different axes. block.

In order to operate cross-coupled control, the In order to drive cross-coupled control, execute master
1236 4662 Warning
master position loop controller must be running. position loop control for the relevant axis first.

Appendix2-19
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning

The P gain input value of the Cross-coupled Enter a value of 0 or more in the P gain of the Cross-
1237 4663 Warning
control function block is negative. coupled control function block.

When re-executing the cross-coupled control function

block, set the command axis and connection axis to
The command was re-executed on an axis for
1238 4664 the previously executed values. The value of P gain Warning
which cross-coupled control is not running.
can be changed without re-executing the function
block.
A constant cycle communication error has Check that the servo power is not turned off during
occurred. (A communication error exceeding the communication, the communication cable is installed
1F00 7936 Alarm
number of master parameter constant cycle normally, or the communication cable is not exposed
communication timeouts occurred.) to noise.
SDO command can no longer be executed due to
Please reset the connection after checking that the
1F10 7952 previously executed slave device SDO Warning
status of the slave device is normal
processing failure
SDO parameter write command cannot be Execute SDO parameter write command while the
1F11 7953 Warning
executed while its operating. relevant axis is not in operation.
SDO parameter Index is set to 0x0000~0x9FFF,
The data range of the SDO parameter Index,
1F12 7954 SubIndex is 0x00 to 0xFF, and data size is set within 4 Alarm
SubIndex, etc. is out of the range.
byte and read/write SDO parameter.
Slave device stopped writing operation while writing
Abort occurred during SDO parameter write
1F13 7955 SDO parameter. Check the write setting data and the Alarm
command.
status of the slave device.
There is no response from the slave device the Slave device no response while writing SDO
1F14 7956 Alarm
SDO parameter write command. parameter. Check the slave device status.
Abort occurred during SDO parameter EEPROM Slave device canceled while saving SDO parameter
1F16 7958 Alarm
save. EEPROM. Check the slave device status.
There is no response from the slave device the Slave no response while saving SDO parameter
1F17 7959 Alarm
SDO parameter EEPROM save command. EEPROM. Check the slave device status.
Other commands cannot be executed while
Execute another command after all SDO parameter
1F19 7961 writing SDO parameters or saving SDO Alarm
EEPROM saving is completed.
parameters to EEPROM.
Slave device stopped reading operation while reading
Abort occurred during SDO parameter read
1F20 7968 SDO parameter. Check the read setting data and the Alarm
command.
status of the slave device.
There is no response from the slave device the Slave device no response while reading SDO
1F21 7969 Alarm
SDO parameter read command. parameter. Check the slave device status.
SDO parameter read/write command cannot be
Execute the command after all currently executing
1F22 7970 executed while SDO parameter read/write Warning
SDO parameter read/write is completed.
command is being executed.
Check whether the corresponding servo drive
Failed to change the operation mode of the servo
1F33 7987 supports EtherCAT CoE CSP mode, and check the Alarm
drive to position control (CSP) mode.
status of the servo drive.
Check whether the corresponding servo drive
Failed to change the operation mode of the servo
1F34 7988 supports EtherCAT CoE Homing mode, and check the Alarm
drive to home return (Homing) mode.
status of the servo drive.
1F35 7989 Failed to change the operation mode of the servo Check whether the corresponding servo drive Alarm

Appendix 2-20
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
drive to torque control (CST) mode. supports EtherCAT CoE CST mode, and check the
status of the servo drive.
Check whether the corresponding servo drive
Failed to change the operation mode of the servo
1F36 7990 supports EtherCAT CoE CSV mode, and check the Alarm
drive to speed control (CST) mode.
status of the servo drive.
XG5000 manual tuning function cannot be After changing the controller to STOP status, execute
1F50 8016 Warning
executed when the controller is in RUN status. manual tuning of XG5000
This command is not available in the slave's Set the slave's EtherCAT status to Boot status and
1F60 8032 Warning
current EtherCAT state. execute the command.
Check the status of the transfer line or slave and
1F61 8033 Send timeout occurred during file transfer Warning
execute the command.
Check the status of the transfer line or slave and
1F62 8034 Send timeout occurred during file transfer Warning
execute the command.
Check the status of the transfer line or slave and
1F63 8035 A packet error occurred during file transfer. Warning
execute the command.
1F64 8036 Slave is out of memory. Check the transferred file and execute the command. Warning
Execute the command after checking whether the
1F65 8037 The device does not exist. Warning
FOE function is available as a slave.
Execute the command after checking whether the
1F66 8038 Access denied to slave. Warning
FOE function is available as a slave.
1F67 8039 Passwords do not match. Confirm the password and execute the command. Warning
The data to be downloaded with the FoE function Check the communication cable connection status
1F68 8040 Warning
was not sent to the controller. and control operation status.
Remove the error of the slave and execute the
1F6F 8047 Slave error occurred during file transfer Warning
command
Execute the command while the axis group is ready
2000 8192 The axis group is not ready for operation. Warning
for operation.
Check the operable axis group status of the
Axis group cannot be executed in "Disabled"
2001 8193 command, and execute the command in the status Warning
state.
where the command can be operated.
Check the operable axis group status of the
2002 8194 Axis group cannot be executed in "Standby" state. command, and execute the command in the status Warning
where the command can be operated.
Check the operable axis group status of the
2003 8195 Axis group cannot be executed in "Moving" state. command, and execute the command in the status Warning
where the command can be operated.
Check the operable axis group status of the
2004 8196 Axis group cannot be executed in "Homing" state. command, and execute the command in the status Warning
where the command can be operated.
Check the operable axis group status of the
Axis group cannot be executed in "Stopping"
2005 8197 command, and execute the command in the status Warning
state.
where the command can be operated.
Check the operable axis group status of the
Axis group cannot be executed in "Errorstop"
2006 8198 command, and execute the command in the status Warning
state.
where the command can be operated.

Appendix2-21
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Check the operable axis group status of the
The configuration axis of the axis group is not
2007 8199 command, and execute the command in the status Warning
servo-on
where the command can be operated.
The controller is stopped by the ESTOP
Check that the controller is not stopped by ESTOP
200F 8207 command and the axis group operation cannot be Alarm
command during axis group operation.
continued.
The controller has changed to 'Stop' or 'Error' Check that the controller has not changed to ’Stop’ or
2010 8208 Alarm
status and operation cannot be continued. 'Error' state while the axis group is running.
Check if the network connection is not disconnected
Since the network connection was disconnected, due to slave power error, network cable error, or noise
2011 8209 Alarm
operation cannot be continued. inflow on the network cable while the axis group is
running.
Set the command position so that it does not exceed
the 32-bit INT range (-2147483648 ~ 2147483647)
The absolute target position where the position when the absolute target position value reflecting the
2012 8210 setting value of the command is reflected is out of position setting value of the command is converted Warning
the pulse unit position expression range. into pulse units. (When using the 'Position Control
Range Expansion' function, 48-bit INT range can be
set.)
The operating speed value is less than 0 or Set the operation speed value greater than 0 and less
2013 8211 Warning
exceeds the maximum speed value. than the maximum speed value set for the axis group.
Set the acceleration value to a value greater than or
2014 8212 Acceleration is set to negative. Warning
equal to 0.
Set the deceleration value to a value greater than or
2015 8213 Deceleration is set to negative. Warning
equal to 0.
2016 8214 Jerk is set to negative. Set the Jerk value to a value greater than or equal to 0. Warning
201A 8218 The Buffer Mode setting value is out of range. Set a settable value in the buffer mode. Warning
The Execution Mode setting value is out of input
201B 8219 Set a settable value (0 to 1) in the Execution Mode. Warning
range.
201C 8220 The Transition Mode setting value is out of range. Set a settable value in the Transition Mode. Warning
The Transition Parameter setting value is out of
201D 8221 Set a settable value in the Transition Parameter. Warning
range.
After removing the error cause, clear the error with the
The axis group operation was stopped due to an
201E 8222 axis or axis group error reset command and execute Warning
axis group configuration error.
the command.
When the command position value was converted into
pulse units, it was out of the 32-bit area When the
The command position value transmitted to the
command position values is converted to a pulse, it set
201F 8223 servo drive is out of the pulse unit expression Warning
within the range of -2147483648 to 2147483647)
value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
The command is not executed in the current version of
2020 8224 It is an undefined axis group command. the controller. Check the version in which the motion Warning
function block can be executed.
The same command was executed, thus Make sure that the command is not executed again
2021 8225 Warning
canceling the previously executed command. during the execution of the same command.

Appendix 2-22
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
The command cannot be executed because the
command buffer of the corresponding axis group is
The number of Buffered commands that can be
2022 8226 full. The number of Buffered Command that can be Warning
executed has been exceeded.
executed is 100. Adjust the command execution
timing.
Axis group parameters cannot be written while the Write the axis group parameter when the axis group is
2030 8240 Warning
axis group is running. not in operation.

Download the data from XG5000 again, and if it

2040 8256 Axis group parameter data is abnormal. Alarm
occurs repeatedly after re-executing, request A/S.
Operation cannot be executed due to the axis
2041 8257 Check the axis group parameters, and set again. Alarm
group parameters error.
The speed limit of the axis group parameter
2042 8258 Set the speed limit value to greater than zero. Warning
cannot be set to a value less than 0.
The configuration axis number setting value of the Set the configuration axis of axis group (axis and
2043 8259 Warning
axis group parameter exceeded the range. encoder numbers) in the range by product.
The axis to be added is already registered in the Please set another axis after checking whether the
2051 8273 Warning
axis group. axis group has the same axis number.
The current axis group is active, and the axis you Execute the command after changing the active axis
2052 8274 want to add is already included in another active group including the relevant axis to the GroupDisabled Warning
axis group. state.
IdentInGroup setting value of axis group
2053 8275 Set the IdentInGroup setting value from 1 to 10. Warning
add/remove command exceeded the range.
There is no axis setting in the specified axis group Set one or more axes in the relevant axis group and
2060 8288 Warning
of the enable/disable axis group command. execute the corresponding command.
The axis group cannot be activated because thereExecute the command in the state that all axes
2061 8289 is an operating axis among the axes of the current belonging to the relevant axis group are not in Warning
axis group. operation.
The designated axis group cannot be activated
because the current axis group's configuration Check that the axis belonging to the relevant axis
2062 8290 Warning
axis is a configuration axis of another active axis group does not belong to another active axis group.
group.
Axis group operation cannot be executed To execute the corresponding operation, set the unit of
2063 8291 because the units of axis group configuration axes the configuration axes belonging to the axis group to Warning
are different. be the same.
The axis group cannot be activated because Set the parameters of the configuration axes
2064 8292 Warning
parameter of axis group configuration occur error. belonging to the axis group within the normal range.
The axis group cannot be activated because the
Set the speed command unit of the configuration axes
2065 8293 speed command unit of axis group configuration Warning
belonging to the axis group to be the same.
axes are different.
Axis group cannot be activated because there is The speed command unit of the configuration axes
2066 8294 an axis whose speed command unit is rpm belonging to the axis group cannot be set as rpm. Set Warning
among the axes of the axis group. it to a value other than rpm.
Coordinates operation cannot be executed To execute the corresponding operation, set the unit of
2067 8295 because the units of axis group configuration axes the configuration axes belonging to the axis group to Warning
are different to coordinate system type. match with coordinate system type.

Appendix2-23
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Execute the command while the configuration axes
If the axis group configuration axis is in NC control
206F 8303 belonging to the axis group are not in NC control Warning
operation, the axis group cannot be activated.
operation.
Check whether the corresponding servo drive
The servo drive of the configuration axis does not
2070 8304 supports EtherCAT CoE Homing mode, and check the Warning
support the homing mode.
status of the servo drive.
There is an axis for which homing has not been Check the component axis error code, remove the
2071 8305 completed normally among the configuration cause of the error of the relevant axis, and then Warning
axes. execute the command again.
After the axis group stops operating, execute the axis
The axis group homing command cannot be
2072 8306 group homing command again in the GroupStandby Warning
executed while the axis group is running.
state.
There is an axis where an error occurred while Check the component axis error code, remove the
2080 8320 setting the current position among the cause of the error of the relevant axis, and then Warning
configuration axes. execute the command again.
Execute the command after making the homing state
Absolute coordinate linear interpolation command
2090 8336 with the home return command or the current position Warning
cannot be executed in undecided homing status.
setting command.
Execute the command by lowering the command
The speed limit of the linear interpolation axis has
2091 8337 speed so as not to exceed the speed limit of the Warning
been exceeded.
component axis.
In the case of a transition with a designated corner
distance, the transition operation cannot be Set the corner distance value specified in the transition
2092 8338 executed because the designated corner distance parameter to be smaller than the moving distance to Warning
is greater than the moving distance to the target the target position.
position.
In the case of a transition with a specified corner
Execute linear interpolation by resetting the target
distance, transition operation cannot be executed
2093 8339 position or changing the transition mode so that the Warning
because the radius of the arc to be inserted
two lines are not nearly on a straight line.
exceeds 2147483647pulse.

Linear interpolation operation cannot be executed Execute the command after changing the setting of
2094 8340 when the main axis or sub axis is “allowed” for infinite running repeat of main axis or sub axis to "0: Warning
infinite running repeat. Prohibited".
Execute the command after making the homing state
Circular Interpolation command cannot be
20A0 8352 with the home return command or the current position Warning
executed in undecided homing status.
setting command.
Circular interpolation mode setting value Set the circular interpolation mode to a value between
20A1 8353 Warning
exceeded the range. 0 and 2 (0: auxiliary point, 1: center point, 2: radius).
The circular interpolation pass selection setting Set the circular interpolation pass selection setting
20A2 8354 Warning
value exceeds the range. value between 0 and 1 (0: CW, 1: CCW).
Set radius setting from circular interpolation main axis
The radius setting exceeded the range in the
20A3 8355 operating data for 80% bigger than its half distance of Warning
circular interpolation radius method.
beginning point to end point.
Cannot be operated if circular interpolation start Execute circular interpolation after setting the center
20A4 8356 point =center point (middle point) or center point point (or middle point) to a position different from the Warning
(middle point)= end point. starting point (or end point) in circular interpolation.

Appendix 2-24
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
If the circular interpolation method is set to the middle
The start point and end point is not possible to be
point (or radius), execute the circular interpolation after
20A5 8357 same in the middle point (radius) mode of circular Warning
setting the position of the start point and the position of
interpolation.
the end point differently.
The radius of the circle to carry out circular
interpolation operation is from 0 to
2,147,483,2147483647pulse. Execute the command
20A6 8358 Radius setting error in circular interpolation. after setting the input value so that the radius can be Warning
calculated within the setting range. (When using the
'Position Control Range Expansion' function, 48-bit
INT range can be set.)
In case of circular interpolation middle point, execute
Not possible to carry out the operation as linear circular interpolation after changing the middle point so
20A7 8359 Warning
profile comes out of circular interpolation. that it is not located on a straight line between the start
point and the endi point.
Circular interpolation operation cannot be Execute the command after changing the setting of
20A8 8360 executed when the main axis or sub axis is infinite running repeat of main axis or sub axis to "0: Warning
“allowed” for infinite running repeat. Prohibited".
Circular interpolation cannot be executed when In the case of circular interpolation, set the axis group
20A9 8361 the number of axis group configuration axes is 4 to 2 axes, and in the case of helical interpolation, set Warning
or more. the axis group to 3 axes.
Circular interpolation cannot be executed if the
In case of circular interpolation, set the axis group in
20AA 8362 axis configuration of the axis group is not Warning
order from the first.
configured in order.
Execute the command by lowering the command
The speed limit of the circular interpolation axis
20AB 8363 speed so as not to exceed the speed limit of the Warning
has been exceeded.
component axis.
In circular interpolation, in the middle point (or Execute circular interpolation after setting the center
20AC 8364 radius) method, the middle point (center point) point (or middle point) to the same XY plane as the Warning
must exist in the same XY plane as the start point. start point (or end point) in circular interpolation.
Executes command after changing the circular
In arc Interpolation for Coordinate System, if start
interpolation center point (or midpoint) so that it is not
20AD 8365 point, center point (middle point), end point locates Warning
located on a straight line between the start and end
the same line, operation can be not executed.
points.
Execute the command after making the homing state
Coordinates operation command cannot be
20C0 8384 with the home return command or the current position Warning
executed in undecided homing status.
setting command.
The PCS setting parameter data of the coordinate
20C1 8385 Check the PCS setting parameters, and set again. Warning
system parameter is abnormal.
The coordinate system type parameter data of the Check the coordinate system type parameters, and
20C2 8386 Warning
coordinate system parameter is abnormal. set again.
The coordinate system parameter data of the
20C3 8387 Check the machine parameters, and set again. Warning
coordinate system parameter is abnormal.
Workspace type data of coordinate system
20C4 8388 Check the workspace type parameters, and set again. Warning
parameter is abnormal.
The workspace parameter data of the coordinate
20C5 8389 Check the workspace parameters, and set again. Warning
system parameter is abnormal.

Appendix2-25
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Move to the position where you can start the
It is a position where coordinate system operation
20C6 8390 coordinate system operation and execute the Warning
cannot be started.
command.
Check if there are any abnormalities in the target
It is a position where coordinate system operation
20C7 8391 position or coordinate system parameters and set Warning
cannot be reach.
again.
Check if there are any abnormalities in workspace
20C8 8392 Operating outside the workspace. Warning
parameter position at and set again.
The axis group cannot be activated because the
Set the unit of the configuration axes belonging to the
20C9 8393 unit of axis group configuration is different to Warning
axis group to match the coordinate system type.
coordinate system type.
Execute the command by lowering the command
Coordinate system operation exceeded the
20CA 8394 speed so as not to exceed the maximum interpolation Warning
maximum interpolation speed.
speed.
Coordinate system operation cannot be executed Execute the command after changing the setting of
20CB 8395 when the configuration axis is “allowed” for infinite infinite running repeat of configuration axis to "0: Warning
running repeat. Prohibited".
Set up a supported CoordSystem and execute the
20CC 8396 Unsupported CoordSystem. Warning
command.
Set up a supported TrajType and execute the
20CD 8397 Unsupported TrajType. Warning
command.
Set supporting ArmConfig and then execute
20CE 8398 Unsupported ArmConfig Warning
command.
Set TrajTime value to a larger value that will not
20CA 8399 TrajTime value exceeds the range. excceds maximum interpolation speed and the Warning
execute command.
Set conveyor axis (axis and encoder numbers) in the
20D0 8400 The conveyor axis setting value is out of range. Warning
range by product.
The axis set as the conveyor axis is set as the Execute the command with the conveyor axis set to
20D1 8401 Warning
axis group configuration axis. another axis.
There is an error in the unit setting of the conveyor
20D2 8402 Set the unit of the conveyor shaft to mm/inch. Warning
axis.
Execute the command when the conveyor axis is
20D3 8403 Conveyor axis are not ready to operating Warning
ready for operation.
Conveyor synchronous command cannot be
Execute the command when the conveyor axis is not
20D4 8404 executed when the main axis is in homing Warning
in operation by homing.
operation.
Conveyor synchronous command cannot be Execute the command when the conveyor axis is not
20D5 8405 Warning
executed when the main axis is in torque control. in operation by torque control.
Conveyor synchronous function conveyor axis
Execute the command after changing the setting of
20D6 8406 cannot be executed when the configuration axis is Warning
infinite running repeat of conveyor axis to "1: enabled".
“disabled” for infinite running repeat.
Conveyor synchronous start position and end Chagne Conveyor synchronous start position or end
20D7 8407 Warning
position shoul be set to different value. position and executes command.
Set Conveyor synchronous start distance value to 0 or
Conveyor synchronous start distance value
20D8 8408 higher, and executes command. Warning
should use “0” or higher.

Appendix 2-26
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Conveyor synchronous end distance value should Set Conveyor synchronous end distance value to 0 or
20D9 8409 Warning
use “0” or higher. higher, and executes command.
The step value of the coordinate system path Set the step value of the coordinate’s path operation to
20E0 8416 Warning
operation exceeds the range. a value from 0 to 99 and execute the command.
Set thecommandType of the coordinates path
The commandType value of the coordinate
20E1 8417 operation to a value from 0 to 4 and execute the Warning
system path operation exceeds the range.
command.
The Mode value of the coordinate system path Set the Mode value of the coordinates path operation
20E2 8418 Warning
operation exceeds the range. to a value from 0 to 2 and execute the command.
Coordinate system path operation exceeded the Set the step value of the coordinates path operation to
20E3 8419 Warning
number of possible paths. a value from 0 to 99 and execute the command.
Set the direction value to supported value and then
20F0 8432 Jog operation direction value excceds the range. Warning
execute the command.
Set the mode value to supported value and then
20F1 8433 Jog operation mode value excceds the range. Warning
execute the command.
Set the position value to “0” or higher and then execute
20F2 8434 Jog operation position value excceds the range. Warning
the command.
Axis group override command cannot be
Execute the axis group override command during axis
2110 8464 executed if it is not operating with axis group Warning
group interpolation or jog operation.
interpolation or jog operation.
Set the VelFactor, AccFactor, and JerkFactor values of
The override factor of the axis group override
2111 8465 the axis group override command to 0 or more and Warning
command exceeded the range.
execute the command.
After reflecting factor of the axis group override
Execute override within the range that does not
2112 8466 command, the axis group operation speed value Warning
exceed the maximum speed value of the relevant axis.
exceeded the maximum speed value.
After reflecting factor of the axis group override
Execute override within the range that does not
command, the operation speed values belonging
2113 8467 exceed the axis included maximum speed value of the Warning
to axis group exceeded the maximum speed
axis included in the relevant axis group.
value.
Execute the command after the parameter number
Parameter number set value of read/write
2120 8480 setting value of the axis group parameters read Warning
command of axis group parameter is out of range.
parameter/write command set between 1 and 41.
Max interpolation speed setting values of axis Set the maximum speed interpolation value of the axis
2121 8481 Warning
group parameters write command is out of range. group as a positive number.
Coordinate system parameter setting values of Check the setting value of the parameter in the
2122 8482 axis group parameters write command is out of 'Coordinate system setting' item among the axis group Warning
range. parameters.
Check the setting value of the parameter in the
Workspace setting values of axis group
2123 8483 'workspace setting' item among the axis group Warning
parameter write command is out of range.
parameters.
PCS setting values of axis group parameter write Check the setting value of the parameter in the 'PCS
2124 8484 Warning
command is out of range. setting' item among the axis group parameters.
The jog speed setting value is a positive number, and
The jog speed setting values of axis group
2125 8485 please set it to less than the maximum interpolation Warning
parameters write command is out of range.
speed setting value.
2126 8486 Configuration axis setting value of axis group Execute the command after setting the configuration Warning

Appendix2-27
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
parameter write command is out of range. axis setting value of the axis group parameter to a
value between 1 and 36.
Check the component axis error code, remove the
Among the configuration axes, there is an axis
2130 8496 cause of the error of the relevant axis, and then Warning
that has not completed servo on/off normally.
execute the command again.
Error occurs during executing the group Execute command again after checking whether the
2140 8512 Warning
positioning operation (CSP mode. configuration axis of axis group is the executing status.
There is axis that the homing does not completed
among the configuration axe of axis group to be After homing the configuration axis that does not
2141 8513 Warning
execute the group positioning operation (CSP homing completion executes the command again.
Mode).

Appendix 2-28
 Appendix 2 Error Information and measurement

(6) NC error information

Error code Alarm/
Error Description Action
Hex Dec Warning
Check if the NC channel is ready for operation. To use NC
The NC channel is not ready for
3000 12288 channel, NC channel must be registered in NC parameter Warning
operation.
in XG5000.

Download the data from XG5000 again, and if it occurs

3001 12289 NC Program data is abnormal. Alarm
repeatedly after re-executing, request A/S.

If the NC channel is in automatic If the NC channel is in automatic operation, write the

3002 12290 Warning
operation, the program cannot be written. program while automatic operation is stopped.

NC program writing was not completed

Download the data from XG5000 again, and if it occurs
3003 12291 normally. (File processing (DELETE) Alarm
repeatedly after re-executing, request A/S.
failure when writing NC program)

NC program writing was not completed

Download the data from XG5000 again, and if it occurs
3004 12292 normally. (File processing (OPEN) Alarm
repeatedly after re-executing, request A/S.
failure when writing NC program)

NC program writing was not completed

Download the data from XG5000 again, and if it occurs
3005 12293 normally. (File processing (WRITE) Alarm
repeatedly after re-executing, request A/S.
failure when writing NC program)

NC program writing was not completed

Download the data from XG5000 again, and if it occurs
3006 12294 normally. (File processing (CLOSE) Alarm
repeatedly after re-executing, request A/S.
failure when writing NC program)
If the NC channel is in automatic
If the NC channel is in automatic operation, write the
3007 12295 operation, the parameter cannot be Warning
parameter while automatic operation is stopped.
written.
During NC channel automatic operation,
Check if the mode of the controller is not changed to
the mode of the controller is changed to
3008 12296 STOP or ERROR status while the NC channel is in Alarm
STOP or ERROR status, so automatic
automatic operation.
operation cannot be continued.
Automatic operation cannot be continued Check if the network connection is not disconnected due
because the EtherCAT network to slave power error, network cable error, or noise inflow
3009 12297 Alarm
connection is cut during NC channel on the network cable while the NC channel is automatic
automatic operation. running.
During NC channel automatic operation,
the controller is stopped by the ESTOP Check that the controller is not stopped by the ESTOP
300A 12298 Alarm
command and automatic operation command while the NC channel is in automatic operation.
cannot be continued.
Check whether the NC X axis is in servo-off status or drive
Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3011 12305 because the NC X axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.

Appendix2-29
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Check whether the NC Y axis is in servo-off status or drive
Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3012 12306 because the NC Y axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.

Check whether the NC Z axis is in servo-off status or drive

Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3013 12307 because the NC Z axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.

Check whether the NC A axis is in servo-off status or drive

Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3014 12308 because the NC A axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.

Check whether the NC B axis is in servo-off status or drive

Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3015 12309 because the NC B axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.
Check whether the NC C axis is in servo-off status or drive
Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3016 12310 because the NC C axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.
Check whether the NC U axis is in servo-off status or drive
Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3017 12311 because the NC U axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.
Check whether the NC V axis is in servo-off status or drive
Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
3018 12312 because the NC V axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.
Check whether the NC W axis is in servo-off status or
Automatic operation cannot be continued
drive alarm has occurred. NC channel automatic operation
3019 12313 because the NC W axis is not ready for Warning
can be executed when the configuration axis is servo-on
operation.
and drive alarm does not occur.
Check whether the NC S axis is in servo-off status or drive
Automatic operation cannot be continued
alarm has occurred. NC channel automatic operation can
301A 12314 because the NC S axis is not ready for Warning
be executed when the configuration axis is servo-on and
operation.
drive alarm does not occur.
The NC command is not supported in the current version
3020 12320 It is an undefined NC channel command. of the controller. Check the version in which the command Warning
can be executed.
The corresponding NC channel command can only be
The same NC Channel command was
executed once per scan. Change the operating condition
3021 12321 executed, thus canceling the previously Warning
of the program so that one NC channel command is
executed command.
executed per scan.
Interpreter (IPR) alarm occurred during Check the interpreter (IPR) error code among the NC
3030 12336 Alarm
NC channel automatic operation, so channel flags. After resetting the NC channel with the NC

Appendix 2-30
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
automatic operation cannot be continued. reset command (NC_Reset), execute the automatic
operation start command (NC_CycleStart) again.
Program processor (PA) alarm occurred Check the iProgram processor (PA) error code among the
during NC channel automatic operation, NC channel flags. After resetting the NC channel with the
3031 12337 Alarm
so automatic operation cannot be NC reset command (NC_Reset), execute the automatic
continued. operation start command (NC_CycleStart) again.
When the command position value was converted into
pulse units, it was out of the 32-bit area When the command
During NC channel automatic operation,
position value is converted to a pulse, it check for within the
3040 12352 the command position setting value is out Alarm
range of -2147483648 to 2147483647.
of the pulse unit expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC X axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3041 12353 NC X axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC Y axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3042 12354 NC Y axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC Z axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3043 12355 NC Z axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC A axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3044 12356 NC A axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC B axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3045 12357 NC B axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC C axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3046 12358 NC C axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)

Appendix2-31
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
When the command position value of NC U axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3047 12359 NC U axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC V axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3048 12360 NC V axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC W axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
3049 12361 NC W axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
When the command position value of NC S axis was
converted into pulse units, it was out of the 32-bit area When
The command position setting value of
the command position value is converted to a pulse, it check
304A 12362 NC S axis is out of the pulse unit Alarm
for within the range of -2147483648 to 2147483647.
expression value.
(When using the 'Position Control Range Expansion'
function, 48-bit INT range can be set.)
Clear the error by executing the error reset command after
The command position of the NC channel
out of the software upper limit by using the reverse jog
3050 12368 configuration axis is out of the software Alarm
command on the NC configuration axis where the error
upper limit position.
occurred.
Clear the error by executing the error reset command after
The command position of the NC X axis is
3051 12369 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC X.
Clear the error by executing the error reset command after
The command position of the NC Y axis is
3052 12370 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC Y.
Clear the error by executing the error reset command after
The command position of the NC Z axis is
3053 12371 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC Z
Clear the error by executing the error reset command after
The command position of the NC A axis is
3054 12372 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC A.

Clear the error by executing the error reset command after

The command position of the NC B axis is
3055 12373 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC B.

Clear the error by executing the error reset command after

The command position of the NC C axis is
3056 12374 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC C.

Appendix 2-32
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Clear the error by executing the error reset command after
The command position of the NC U axis is
3057 12375 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC U.
Clear the error by executing the error reset command after
The command position of the NC V axis is
3058 12376 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC V.
Clear the error by executing the error reset command after
The command position of the NC W axis
3059 12377 out of the software upper limit by using the reverse jog Alarm
is out of the software upper limit position.
command on the NC W.
Clear the error by executing the error reset command after
The command position of the NC S axis is
305A 12378 out of the software upper limit by using the reverse jog Alarm
out of the software upper limit position.
command on the NC S.
The command position of the NC Clear the error by executing the error reset command after
305B 12379 channel/axis is out of the inner range of out of G22 No Traveling Area by using the jog command Alarm
the G22 no-feed zone. on the NC configuration axis where the error occurred.
The command position of the NC Clear the error by executing the error reset command after
305C 12380 channel/axis is out of the outer range of out of G22 No Traveling Area by using the jog command Alarm
the G22 no-feed zone. on the NC configuration axis where the error occurred.
The command position of the NC Clear the error by executing the error reset command after
305D 12381 channel/axis is out of range of the 3rd no- out of the 3rd no-feed zone by using the jog command on Alarm
feed zone. the NC configuration axis where the error occurred.
Clear the error by executing the error reset command after
The command position of the NC channel
out of the software lower limit by using the forward
3060 12384 configuration axis is out of the software Alarm
direction jog command on the NC configuration axis where
lower limit position.
the error occurred.
Clear the error by executing the error reset command after
The command position of the NC X axis is
3061 12385 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC X.
Clear the error by executing the error reset command after
The command position of the NC Y axis is
3062 12386 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC Y.
Clear the error by executing the error reset command after
The command position of the NC Z axis is
3063 12387 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC Z.
Clear the error by executing the error reset command after
The command position of the NC A axis is
3064 12388 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC A.
Clear the error by executing the error reset command after
The command position of the NC B axis is
3065 12389 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC B.

Clear the error by executing the error reset command after

The command position of the NC C axis is
3066 12390 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC C.
Clear the error by executing the error reset command after
The command position of the NC U axis is
3067 12391 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC U.

Appendix2-33
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Clear the error by executing the error reset command after
The command position of the NC V axis is
3068 12392 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC V.
Clear the error by executing the error reset command after
The command position of the NC W axis
3069 12393 out of the software lower limit by using the forward Alarm
is out of the software lower limit position.
direction jog command on the NC W.
Clear the error by executing the error reset command after
The command position of the NC S axis is
306A 12394 out of the software lower limit by using the forward Alarm
out of the software lower limit position.
direction jog command on the NC S.
Automatic operation cannot be continued Check if the NC X axis is not completion for homing. Use
3071 12401 because the NC X axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC Y axis is not completion for homing. Use
3072 12402 because the NC Y axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC Z axis is not completion for homing. Use
3073 12403 because the NC Z axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC A axis is not completion for homing. Use
3074 12404 because the NC A axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC B axis is not completion for homing. Use
3075 12405 because the NC B axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC C axis is not completion for homing. Use
3076 12406 because the NC C axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC U axis is not completion for homing. Use
3077 12407 because the NC U axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC V axis is not completion for homing. Use
3078 12408 because the NC V axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC W axis is not completion for homing. Use
3079 12409 because the NC W axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
Automatic operation cannot be continued Check if the NC S axis is not completion for homing. Use
307A 12410 because the NC S axis is not completion the homing command (MC_Home, NC_Home) to change Warning
for homing. the axis to the homing completion state.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC configuration axis is not
3080 12416 due to an abnormal drive condition Warning
changed to high/low limit, alarm or servo-off status during
(high/low limit, alarm, servo-off) of the NC
automatic operation of NC channel.
component axis.
During NC channel automatic operation, Remove the cause of the abnormal state after checking
3081 12417 automatic operation cannot be continued that the drive status of the NC X is not changed to high/low Warning
due to an abnormal drive condition limit, alarm or servo-off status during automatic operation

Appendix 2-34
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
(high/low limit, alarm, servo-off) of the NC of NC channel.
X.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC Y. is not changed to high/low
3082 12418 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
Y.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC Z is not changed to high/low
3083 12419 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
Z.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC A is not changed to high/low
3084 12420 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
A.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC B is not changed to high/low
3085 12421 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
B.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC C is not changed to high/low
3086 12422 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
C.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC U is not changed to high/low
3087 12423 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
U.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC V is not changed to high/low
3088 12424 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
V.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC W is not changed to
3089 12425 due to an abnormal drive condition Warning
high/low limit, alarm or servo-off status during automatic
(high/low limit, alarm, servo-off) of the NC
operation of NC channel.
W.
During NC channel automatic operation,
Remove the cause of the abnormal state after checking
automatic operation cannot be continued
that the drive status of the NC S is not changed to high/low
308A 12426 due to an abnormal drive condition Warning
limit, alarm or servo-off status during automatic operation
(high/low limit, alarm, servo-off) of the NC
of NC channel.
S.

Appendix2-35
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Download the data from XG5000 again, and if it occurs
3100 12544 NC Channel parameter data is abnormal. Alarm
repeatedly after re-executing, request A/S.

Operation cannot be executed due to the Check the NC parameters, and if the settings such as the
3101 12545 Alarm
NC parameters error. data range are abnormal, set them again.
Upper/Lower speed limit of the cutting feed of NC channel
Upper/Lower speed limit of the cutting
parameter set to a values greater than 0. Set the Upper
3102 12546 feed of NC channel parameter exceeded Alarm
speed limit of the cutting feed higher than the lower speed
the range.
limit of the cutting feed.
Set the upper/lower limit cutting speed values of the
The upper/lower limit cutting speed setting
circular milling speed limit in the NC channel parameter to
value of the circular milling speed limit in
3103 12547 a value greater than 0. Set the Upper speed limit of circular Alarm
the NC channel parameter exceeded the
interpolation higher than the lower speed limit of circular
range.exceeded the range.
interpolation.
Set Max. Speed of Spindle at Constant Speed Control
Max/Min Speed of Spindle at Constant
setting of NC channel parameter higher than Min Speed of
3104 12548 Speed Control setting of NC channel Alarm
Spindle at Constant Speed Control setting of NC channel
parameter exceeded the range.
parameter.
NC Channel /axis parameter data is Download the data from XG5000 again, and if it occurs
3200 12800 Warning
abnormal. repeatedly after re-executing, request A/S.

As Executing reset by NC_Reset or If needs Blcok control function, NC_Reset or

3300 13056 NC_Emergency command, Block Control NV_Emergency command is completed and then
function is canceled executes command again.

When processing reset by NC_Reset or

After NC_Reset or NC_Emergency command is complete
3301 13057 NC_Emergency command, NC_Block
d, executes NC command.
Control command can be executed.

The NC Feed Hold command was Execute the NC Feed Hold command (NC_FeedHold)
executed in a state other than automatic while the NC channel is in automatic operation. If
3310 13072 operation, or the currently executing automatic operation is currently in progress, please check Warning
program block is in a state where NC whether the currently executing program block is in a state
Feed Hold cannot be executed. where Feed Hold is possible.
Feed Hold function was canceled If the Feed Hold function is required, execute the
3311 13073 because reset by NC_Reset or command again in the automatic operating status after the Warning
NC_Emergency command was executed. NC_Reset or NC_Emergency command is finished.
NC_FeedHold command cannot be
Execute the NC command after the NC_Reset or
3312 13074 executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
The override factor of the NC rapid Set the VelFactor, AccFactor, and JerkFactor values of the
3320 13088 traverse override command exceeded the override command to 0 or more and execute the override Warning
range. command.

Appendix 2-36
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3321 13089 to the NC X axis, override the speed limit value within the Warning
the operating speed value of the NC X
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3322 13090 to the NC Y axis, override the speed limit value within the Warning
the operating speed value of the NC Y
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3323 13091 to the NC Z axis, override the speed limit value within the Warning
the operating speed value of the NC Z
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3324 13092 to the NC A axis, override the speed limit value within the Warning
the operating speed value of the NC A
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3325 13093 to the NC B axis, override the speed limit value within the Warning
the operating speed value of the NC B
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3326 13094 to the NC C axis, override the speed limit value within the Warning
the operating speed value of the NC C
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3327 13095 to the NC U axis, override the speed limit value within the Warning
the operating speed value of the NC U
range.
axis exceeds the speed limit.
After the override factor of the NC rapid
After checking the speed limit value of the axis connected
traverse override command is reflected,
3328 13096 to the NC V axis, override the speed limit value within the Warning
the operating speed value of the NC V
range.
axis exceeds the speed limit.

After the override factor of the NC rapid

After checking the speed limit value of the axis connected
traverse override command is reflected,
3329 13097 to the NC W axis, override the speed limit value within the Warning
the operating speed value of the NC W
range.
axis exceeds the speed limit.

After the override factor of the NC rapid

After checking the speed limit value of the axis connected
traverse override command is reflected,
332A 13098 to the NC S axis, override the speed limit value within the Warning
the operating speed value of the NC S
range.
axis exceeds the speed limit.

Rapid Traverse override function was If the Rapid Traverse override function is required, execute
332B 13099 canceled because reset by NC_Reset or the command again after the NC_Reset or Warning
NC_Emergency command was executed. NC_Emergency command is finished.

Appendix2-37
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
NC_RapidTraverseOverride command
cannot be executed while reset by Execute the NC command after the NC_Reset or
332C 13100 Warning
NC_Reset or NC_Emergency command NC_Emergency command is finished.
is in progress.
Set the VelFactor, AccFactor, and JerkFactor values of the
The override factor of the NC cutting feed
3330 13104 override command to 0 or more and execute the override Warning
override command exceeded the range.
command.
After the override factor of the NC cutting
After checking the cutting feed upper limit speed value of
feed override command was reflected, the
3331 13105 the NC channel parameter, override it within the range that Warning
operating speed value exceeded the
does not exceed the cutting feed upper limit speed value.
cutting feed upper limit speed value.
Cutting feed override function was If the cutting feed override function is required, execute the
3332 13106 canceled because reset by NC_Reset or command again after the NC_Reset or NC_Emergency Warning
NC_Emergency command was executed. command is finished.
NC_CuttingFeedOverride command
cannot be executed while reset by Execute the NC command after the NC_Reset or
3333 13107 Warning
NC_Reset or NC_Emergency command NC_Emergency command is finished.
is in progress.
Set the VelFactor, AccFactor, and JerkFactor values of the
The override factor of the NC Spindle
3340 13120 override command to 0 or more and execute the override Warning
override command exceeded the range.
command.
After the override factor of the NC Spindle
After checking the speed limit value of the axis connected
override command is reflected, the
3341 13121 to spindle axis, override the speed limit value within the Warning
operating speed value of Spindle exceeds
range.
the speed limit.
Spindle override function was canceled If the Spindle override function is required, execute the
3342 13122 because reset by NC_Reset or command again after the NC_Reset or NC_Emergency Warning
NC_Emergency command was executed. command is finished.
NC_SpindleOverride command cannot be
Execute the NC command after the NC_Reset or
3343 13123 executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
The spindle override command cannot be The spindle axis (NC S axis) is in servo off state or a drive
3344 13124 executed because the spindle axis (NC S alarm occurs Warning
axis) is not ready for operation.
Check if the setting axis of the NC parameter read
The setting axis of the NC parameter read command is registered as the NC channel/axis parameter.
3350 13136 Warning
command is not activated as an NC axis. NC channel/ Axis can be registered in NC Channel
parameter among motion data items of XG5000.
The axis setting value of the NC Set axis number to a value between 1 and 10. If the axis
3351 13137 parameter read command exceeded the value is 0, read channel parameters, and if 1 to 10, read Warning
allowable range. NC axis X to NC axis S.
The setting range of the parameter group is 1 to 17 for
The Parameter group setting value of the channel parameters and 1 to 5 for channel/axis
3352 13138 NC parameter read command exceeded parameters. After checking the group number to which the Warning
the allowable range. parameter you want to read belongs, execute the
parameter read command (NC_ReadParameter).

Appendix 2-38
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Check whether the parameter number set in the channel
The parameter number set in the parameter or channel/axis parameter group is supported.
3353 13139 parameter group of the NC parameter After checking the group number ans parameter number Warning
read command is not supported. to which the parameter you want to read belongs, execute
the parameter read command (NC_ReadParameter).
To execute the mirror image (NC_MirrorImage) command
The NC_MirrorImage command was during automatic operation, execute it after creating a
3362 13154 Warning
executed in a non-SingleBlock state. single block state with the block operation designation
(NC_BlockControl) command.
If the reverse operation buffer is 0, it Set the reverse operation buffer value of the NC channel
3370 13168 Warning
cannot be executed. parameter to a value between 1 and 50.
Block skip function was canceled because If the block skip function is required, execute the command
3380 13184 reset by NC_Reset or NC_Emergency again after the NC_Reset or NC_Emergency command is Warning
command was executed. finished.
Execute the automatic tool measurement (NC_BlockSkip)
The tool position measurable position is
3381 13185 command after checking the position where the tool Warning
out of range. (G37)
position can be measured.
If the NC channel is in automatic Check if the NC channel is in automatic operation. Start
3500 13568 operation, the automatic operation start automatic operation again after the automatic operation is Warning
command cannot be executed. finished,
If the NC eed Hold command is enabled After releasing the Enable input of the NC Feed Hold
3501 13569 status, the automatic operation start command (NC_FeedHold), execute the automatic Warning
command cannot be executed. operation start command (NC_CycleStart) again.
If the NC emergency stop command is After releasing the Enable input of the NC emergency stop
3502 13570 enabled status, the automatic operation command (NC_Emergency), execute the automatic Warning
start command cannot be executed. operation start command (NC_CycleStart) again.
The automatic operation start command After resetting the NC channel with the NC reset
3503 13571 cannot be executed without the NC command (NC_Reset), and run automatic operation start Warning
Interpreter (IPR) normally end. command (NC_CycleStart) again.
Check the Interpreter (IPR) or Program Processor (PA)
The NC Interpreter (IPR) or Program
error code among the NC channel flags. After resetting the
Processor (PA) cannot execute the
3504 13572 NC channel with the NC reset command (NC_Reset), Warning
automatic operation start command in an
execute the automatic operation start command
error state.
(NC_CycleStart) again.
After designating the program to be executed with the NC
If the NC channel is not setting to execute
program designation command (NC_LoadProgram),
3505 13573 program, the automatic operation start Warning
execute the automatic operation start command
command cannot be executed.
(NC_CycleStart) again.
After checking the machining quantity of the NC channel
The automatic operation start command flag or the machining quantity in case of repeated
cannot be executed because the NC machining of M99, check whether the target machining
3506 13574 channel has reached the target machining quantity has been reached. Execute the automatic Warning
quantity or the target machining quantity in operation start command (NC_CycleStart) again after
M99 repeat machining. resetting the machining quantity flag or M99 machining
quantity flag in case of repeated machining.
When the NC M/S/T-code output strobe After completing the NC M/S/T-code output strobe signal,
3507 13575 Warning
signal is On, the automatic operation start execute the automatic operation start command

Appendix2-39
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
command cannot be executed. (NC_CycleStart).
After resetting the NC channel with the NC reset
The NC Channel Interpreter (IPR) did not
3508 13576 command (NC_Reset), and run automatic operation start Warning
run normally.
command (NC_CycleStart) again.
If entering the NC feed prohibited zone, Clear the error by executing the error reset command after
3509 13577 the automatic operation start command out of feed prohibited zone by using the jog command on Warning
cannot be executed. the NC configuration axis where the error occurred.
NC_CycleStart command cannot be
Execute the NC command after the NC_Reset or
350A 13578 executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
The automatic operation start command Check whether the slave connected to the spindle axis
cannot be executed because the NC supports csv or vl operation mode. It cannot be operated
350B 13579 Warning
spindle device does not support csv or vl as a spindle axis because the spindle device does not
mode. support csv or vl mode.
The automatic operation start command Execute the automatic operation start command
cannot be executed because there is no (NC_CycleStart) after resuming the EtherCAT connection
required object required for spindle by setting the necessary objects required for spindle
350C 13580 Warning
operation in the PDO setting of the operation in the PDO setting of the EtherCAT slave
EtherCAT slave connected to the spindle connected to the spindle axis. (Refer to the manual spindle
axis. device required PDO setting)
The automatic operation start command After releasing the enable input of NC_Reset or
cannot be executed because the reverse NC_TetraceMove commands, execute the automatic
350D 13581 Warning
operation buffer is all used during reverse operation start command (NC_CycleStart) again.
operation.
The automatic operation start command Execute the automatic operation start command after the
350F 13583 cannot be executed while writing the NC program write operation downloaded during run is Warning
downloaded NC program during run. completed.
Execute the automatic operation start command
If the NC channel is not ready for (NC_CycleStart) when all NC channel configuration axes
3510 13584 configuration axis, the automatic operation are ready. To start automatic operation, the NC channel Warning
start command cannot be executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC X axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
3511 13585 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC Y axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
3512 13586 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC Z axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
3513 13587 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.

Appendix 2-40
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
Execute the automatic operation start command
If the NC A axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
3514 13588 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC B axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
3515 13589 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC C axis is not ready, the (NC_CycleStart) when all NC channel configuration axes
3516 13590 automatic operation start command are ready. To start automatic operation, the NC channel Warning
cannot be executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC U axis is not ready, the (NC_CycleStart) when all NC channel configuration axes
3517 13591 automatic operation start command are ready. To start automatic operation, the NC channel Warning
cannot be executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC V axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
3518 13592 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC W axis is not ready, the (NC_CycleStart) when all NC channel configuration axes
3519 13593 automatic operation start command are ready. To start automatic operation, the NC channel Warning
cannot be executed. configuration axis must be connected to the network or set
as a virtual axis.
Execute the automatic operation start command
If the NC S axis is not ready, the automatic (NC_CycleStart) when all NC channel configuration axes
351A 13594 operation start command cannot be are ready. To start automatic operation, the NC channel Warning
executed. configuration axis must be connected to the network or set
as a virtual axis.
If the NC channel configuration axis is in Execute the automatic operation start command
3520 13600 operation, the automatic operation start (NC_CycleStart) when NC channel configuration axes are Warning
command cannot be executed. stop.
If the NC X axis is in operation, the Execute the automatic operation start command
3521 13601 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC Y axis is in operation, the Execute the automatic operation start command
3522 13602 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC Z axis is in operation, the Execute the automatic operation start command
3523 13603 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
3524 13604 If the NC A axis is in operation, the Execute the automatic operation start command Warning

Appendix2-41
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
automatic operation start command (NC_CycleStart) when NC channel configuration axes are
cannot be executed. stop.
If the NC B axis is in operation, the Execute the automatic operation start command
3525 13605 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC C axis is in operation, the Execute the automatic operation start command
3526 13606 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC U axis is in operation, the Execute the automatic operation start command
3527 13607 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC V axis is in operation, the Execute the automatic operation start command
3528 13608 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC W axis is in operation, the Execute the automatic operation start command
3529 13609 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
If the NC S axis is in operation, the Execute the automatic operation start command
352A 13610 automatic operation start command (NC_CycleStart) when NC channel configuration axes are Warning
cannot be executed. stop.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC
3530 13616 (NC_CycleStart) while the NC channel configuration axis Warning
channel configuration axis is activated as
is inactive as a motion axis group configuration axis.
a motion axis group configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC X
3531 13617 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC Y
3532 13618 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC Z
3533 13619 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC A
3534 13620 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC B
3535 13621 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command Execute the automatic operation start command
3536 13622 cannot be executed because the NC C (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group is inactive as a motion axis group configuration axis.

Appendix 2-42
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC U
3537 13623 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC V
3538 13624 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC W
3539 13625 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
The automatic operation start command
Execute the automatic operation start command
cannot be executed because the NC S
353A 13626 (NC_CycleStart) while the NC channel configuration axis Warning
axis is activated as a motion axis group
is inactive as a motion axis group configuration axis.
configuration axis.
For NC operation, set the unit of NC channel configuration
The position unit or velocity unit setting of
axis (except spindle) to mm or deg. Set the speed unit in
3540 13632 the NC channel configuration axis is Warning
RPM for the spindle axis (S axis) and unit/min for other
incorrect.
axes (X, Y, Z, A, B, C, U, V, W).
The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3541 13633 Warning
the NC X axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3542 13634 Warning
the NC Y axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3543 13635 Warning
the NC Z axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3544 13636 Warning
the NC A axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3545 13637 Warning
the NC B axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3546 13638 Warning
the NC C axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3547 13639 Warning
the NC U axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3548 13640 Warning
the NC V axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.

The position unit or velocity unit setting of For NC operation, set the unit of NC channel configuration
3549 13641 Warning
the NC W axis is incorrect. axis to mm or deg. Set the speed unit as unit/min.
354A 13642 The position unit or velocity unit setting of For NC operation, set the speed unit of spindle axis to Warning

Appendix2-43
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
the NC S axis is incorrect. RPM.
Cannot load program because the
After writing the NC program in XG5000, write it to the
program set in the NC program
3600 13824 controller and then execute the program designation Warning
designation command does not exist in
command (NC_LoadProgram) again.
the controller.
If the NC channel is in automatic Check if the NC channel is in automatic operation.
3601 13825 operation, the program designation Designate a new program after the automatic operation is Warning
command cannot be executed. finished,
After checking whether an abnormal NC program data
If the NC program data is error, the
error (0x3001) has occurred, download the data again
3602 13826 program designation command cannot be Warning
from XG5000, and if it occurs repeatedly after re-
executed.
executing, request A/S.
After entering a value of 0 in LoadMode of the NC
Invalid LoadMode of NC programming program designation command (NC_LoadProgram),
3603 13827 Warning
instruction. execute the program designation command
(NC_LoadProgram) again.
NC_LoadProgram command cannot be
Execute the NC command after the NC_Reset or
3604 13828 executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
While writing the downloaded NC
Execute the program designation command after the NC
program during run, the program
3605 13829 program write operation downloaded during run is Warning
designation command could not be
completed.
executed.
Reset the NC channel again with the NC reset command
The NC Channel Interpreter (IPR) did not
3610 13840 (NC_Reset). If it occurs repeatedly after retry, please Warning
normally reset.
request A/S.
Execute the NC emergency stop command
The NC_Emergency command was
3620 13856 (NC_Emergency) while the NC channel is in automatic Warning
executed without automatic operation.
operation.
It is not the range of homing that can be The range of the home (ReferenceNum) is from the 1st
3630 13872 Warning
specified in NC homing operation. home to the 4th home. Specify a value between 1 and 4.
The Nc_home return command cannot be
After the automatic operation is finished, execute the origin
3631 13873 executed when the channel is in Warning
return command.
automatic operation.
If the NC emergency stop command is After releasing the Enable input of the NC emergency stop
3632 13874 enabled status, the home return command (NC_Emergency), execute the home return Warning
command cannot be executed. command (NC_Home) again.
Execute the home return command (NC_Home) when all
If the NC channel is not ready for
NC channel configuration axes are ready. To execute
3633 13875 configuration axis, the home return Warning
home return command, the NC channel configuration axis
command cannot be executed.
must be connected to the network or set as a virtual axis.
The home return command cannot be
Execute the home return command (NC_Home) while the
executed because the NC channel
3634 13876 NC channel configuration axis is inactive as a motion axis Warning
configuration axis is activated as a motion
group configuration axis.
axis group configuration axis.
An error occurred during home return in Check the error factor of the servo drive, remove the servo
3635 13877 Warning
the the servo drive. drive error, and then execute homing.

Appendix 2-44
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
NC_Home command cannot be executed
Execute the NC command after the NC_Reset or
3636 13878 while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
When the spindle axis is automatically After correctly homing operation encoder connection
controlled by the NC function module, if method connected to the spindle axis in the 'Spindle
3637 13879 the 'Spindle encoder selection' item of the encoder selection' item of the axis parameter, execute Warning
axis parameter is '0: Disabled', the home home operation command.
operation cannot be executed.
If the 'Spindle encoder selection' item of If the 'Spindle encoder selection' item of the axis
the axis parameter is '1: Motor ENC', the parameter is '1: Motor ENC', add the 'Position actual value
'Position actual value (0x6064)' object (0x6064)' object to the TxPDO setting of the EtherCAT
3638 13880 does not exist in the TxPDO setting of the slave connected to the spindle axis, resume EtherCAT Warning
EtherCAT slave connected to the spindle connection, and then execute home operation command.
axis, so the home operation cannot be
executed.
If the 'Spindle encoder selection' item of If the 'Spindle encoder selection' item of the axis
the axis parameter is '2: Built-in ENC1', parameter is '2: Built-in ENC1', set the encoder 1 unit =
3639 13881 the setting of the encoder 1 parameter is pulse, Encoder 1 maximum value = 2147483647, Warning
incorrect and the home operation cannot Encoder 1 minimum value = -2147483648 and then
be executed. execute the home operation command.
If the 'Spindle encoder selection' item of If the 'Spindle encoder selection' item of the axis
the axis parameter is '3: Built-in ENC2', parameter is '3: Built-in ENC2', set the encoder 2 unit =
363A 13882 the setting of the encoder 2 parameter is pulse, Encoder 2 maximum value = 2147483647, Warning
incorrect and the home operation cannot Encoder 2 minimum value = -2147483648 and then
be executed. execute the home operation command.
After checking the status of the M-code output strobe
NC M-code operation completion
signal among the NC channel flags, execute the M-code
3640 13888 command cannot be executed when M- Warning
operation completion command (NC_McodeComplete)
code output strobe signal is Off.
when the M-code output strobe signal is On.
NC_McodeComplete command cannot
Execute the NC command after the NC_Reset or
3641 13889 be executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
After checking the status of the S-code output strobe
NC S-code operation completion
signal among the NC channel flags, execute the S-code
3650 13904 command cannot be executed when S- Warning
operation completion command (NC_ScodeComplete)
code output strobe signal is Off.
when the S-code output strobe signal is On.
NC_ScodeComplete command cannot
Execute the NC command after the NC_Reset or
3651 13905 be executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
After checking the status of the T-code output strobe signal
NC T-code operation completion
among the NC channel flags, execute the T-code
3660 13920 command cannot be executed when T- Warning
operation completion command (NC_TcodeComplete)
code output strobe signal is Off.
when the S-code output strobe signal is On.
NC_TcodeComplete command cannot be
Execute the NC command after the NC_Reset or
3661 13921 executed while reset by NC_Reset or Warning
NC_Emergency command is finished.
NC_Emergency command is in progress.
3670 13936 The parameter write command cannot be Check if the NC channel is in automatic operation. Warning

Appendix2-45
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
executed when the channel is in Execute the NC parameter write command
automatic operation. (NC_WriteParameter) in the stop state after automatic
operation is finished.
Check if the setting axis of the NC parameter write
The setting axis of the NC parameter write command is registered as the NC channel/axis parameter.
3671 13937 Warning
command is not activated as an NC axis. NC channel/ Axis can be registered in NC Channel
parameter among motion data items of XG5000.

The axis setting value of the NC Set axis number to a value between 1 and 10. If the axis
3672 13938 parameter write command exceeded the value is 0, write channel parameters, and if 1 to 10, write Warning
allowable range. NC axis X to NC axis S.
The setting range of the parameter group is 1 to 17 for
The Parameter group setting value of the channel parameters and 1 to 5 for channel/axis
3673 13939 NC parameter write command exceeded parameters. After checking the group number to which the Warning
the allowable range. parameter you want to write belongs, execute the
parameter write command (NC_WriteParameter).
Check whether the parameter number set in the channel
The parameter number set in the parameter or channel/axis parameter group is supported.
3674 13940 parameter group of the NC parameter After checking the group number and parameter number Warning
write command is not supported. to which the parameter you want to write belongs, execute
the parameter write command (NC_WriteParameter).
NC The data set value of the parameter After checking the data setting range of the parameter you
3675 13941 set in the NC parameter write command is want to set, execute the parameter write command Warning
out of range. (NC_WriteParameter) with a value within the range.
When NC axis is operating, writing to “axis When NC axis is not operating, executes writing to to “axis
3676 13942 setting” group parameter item of NC setting” group parameter item of NC channel/axis Warning
channel/axis parameter can be executed. parameter.
Only the Cancel Tool Retract/Recover After specifying Cancel Tool Retract/Recover Mode (0),
Mode (0), Tool Retract Mode (1) or Tool Tool Retract Mode (1), or Tool Recover Mode (2) in the
3690 13968 Warning
Recover Mode (2) commands can be ToolMode input, execute the Tool Retract/Recover
commanded. (NC_ToolMode) command.
Tool Retract cannot be commanded if it is Execute the Tool Recover Mode (2) command after tool
3691 13969 Warning
not in tool Recover mode. Retract is completed in Tool Retract Mode (1).
If the tool Retract operation is not
Execute tool Recover mode (2) command after executing
performed in the tool Retract mode, the
3692 13970 tool Retract operation with JOG operation in tool Retract Warning
tool Recover command cannot be
mode.
commanded.
Block Optional Skip number is out of Set the value to be set for SkipNum from 0 to 9 and
36A0 13984 Warning
range. (0~9) execute the command.
The axis setting value of the manual tool
Set one of the X~Z (1~3) axes in NcAxis and execute the
36B0 14000 correction command exceeded the Warning
command.
allowable range. (X, Y, Z)
The command cannot be executed
because the axis of the manual tool Set the axis set in NcAxis as a configuration axis and
36B1 14001 Warning
correction command is not prepared as a execute the command.
configuration axis.
36B2 14002 The axis of the manual tool correction Assign the axis to the NC axis set in NcAxis and execute Warning

Appendix 2-46
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
command is not activated as an NC axis. the command.
The manual tool correction cannot be
After the automatic operation is finished, execute the origin
36B3 14003 executed when the channel is in Warning
return command.
automatic operation.
Set the speed to be set in ChgVelocity of the
Spindle shaft gear change speed setting
36C0 14016 NC_ChgSpindleGear command within the speed limit of Warning
value exceeds axis speed limit.
the relevant axis and execute the command.
Set the MaxVelocity value of the NC_ChgSpindleGear
Spindle axis maximum speed value is
36C1 14017 command to a value greater than 0 and execute the Warning
less than or equal to zero.
command.
Set the GearOfMotor value of the NC_ChgSpindleGear
The gear ratio setting value on the motor
36C2 14018 command to a value greater than 0 and execute the Warning
side is less than or equal to 0.
command.
Set the GearOfMachine value of the NC_ChgSpindleGear
The gear ratio setting value on the
36C3 14019 command to a value greater than 0 and execute the Warning
mechanical side is less than or equal to 0.
command.
Set the Backlash value of the NC_ChgSpindleGear
36C4 14020 Backlash setting is less than 0. command to a value greater than or equal to 0 and Warning
execute the command.
Set the P gain value of the NC_ChgSpindleGear
The P Gain setting is less than 0 or
36C5 14021 command to a value in the range 0 to 500 and execute the Warning
greater than 500.
command.
Set the FF gain value of the NC_ChgSpindleGear
The FF Gain setting is less than 0 or
36C6 14022 command to a value in the range 0 to 100 and execute the Warning
greater than 100.
command.
Spindle axis is not in operation with NC Operate the spindle axis with NC automatic operation and
36C7 14023 Warning
automatic operation. perform NC_ChgSpindleGear operation.
When processing rest by NC_Reset or
After reset process is compleed, execute ChgSpindleGear
36C8 14024 NC_Emergency command, the NC Warning
function block.
function block can be executed.
The spindle control command cannot be After setting the spindle axis (S axis) in the NC
executed because the main spindle axis is channel/axis of the NC parameter, set the motor axis
36D0 14032 Warning
not set to be automatically controlled by number connected to the spindle axis (S axis) in the 'Main
the NC function module. spindle axis number' of the NC channel parameter.
The motor axis connected to the spindle axis is not
The spindle control command cannot be
currently ready for operation. After making the axis ready
36D1 14033 executed because the spindle axis is not Warning
for operation with the LS_Connect command, execute the
ready for operation.
spindle control command.

Please check whether the SD card is properly installed

36E0 14048 The SD card is not installed properly. Warning
and ready for use.

SrcProgramName program does not Check if the program of SrcProgramName is saved, and
36E1 14049 Warning
exist. enter the program name of the command correctly.

DstProgramName program is set to To modify the program in DstProgramName, set it to allow

36E2 14050 Warning
overwrite protection. overwriting when executing the command.

Appendix2-47
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning

36E3 14051 An error occurred while reading the file. Please check if the status of the saved file is normal. Warning

After checking the speed limit value of the axis connected

In the NC rapid traverse command, the
to the NC configuration axis in which the error occurred,
3800 14336 operating speed value of the configuration Warning
set the rapid traverse speed within the range that does not
axis exceeded the speed limit.
exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3801 14337 operating speed value of the NC X axis to the NC X axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3802 14338 operating speed value of the NC Y to the NC Y axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3803 14339 operating speed value of the NC Z to the NC Z axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3804 14340 operating speed value of the NC A to the NC A axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3805 14341 operating speed value of the NC B to the NC B axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3806 14342 operating speed value of the NC C to the NC C axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3807 14343 operating speed value of the NC U to the NC U axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3808 14344 operating speed value of the NC V to the NC V axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC rapid traverse command, the After checking the speed limit value of the axis connected
3809 14345 operating speed value of the NC W to the NC W axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.

In the NC rapid traverse command, the After checking the speed limit value of the axis connected
380A 14346 operating speed value of the NC S to the NC S axis, set the rapid traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
During NC rapid traverse operation, the in Check the command in position width and the in position
position of the axes of rapid traverse was completion monitoring time of the NC channel parameters
380B 14347 Warning
not completed within the in position among the parameters of the axes connected to the NC
completion monitoring time. axis.
During NC rapid traverse operation, Check the axis in which the error occurred among the NC
automatic operation cannot be continued configuration axes. Check the error occurred in the NC
380C 14348 Alarm
because there is an error among the NC axis from the axis error code number of the NC
configuration axes. channel/axis flag.
3810 14352 In NC feed-per-revolution mode, the Set the speed of cutting feed operation to a non-zero value Warning

Appendix 2-48
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
speed of the cutting feed operation is in NC feed-per-revolution mode.
specified as zero.
The operating speed of the NC cutting After checking the cutting feed upper limit value of the NC
feed command exceeded the cutting feed channel parameter, set the cutting feed rate value (F)
3811 14353 Warning
upper limit speed value of the NC channel within the range that does not exceed the parameter
parameter. value.
During NC cutting traverse operation, the Check the command in position width and the in position
in position of the axes of cutting traverse completion monitoring time of the NC channel parameters
3812 14354 Warning
was not completed within the in position among the parameters of the axes connected to the NC
completion monitoring time. axis.
After checking the speed limit value of the axis connected
In the NC cutting feed command, the
to the NC configuration axis in which the error occurred,
3820 14368 operating speed value of the configuration Warning
set the cutting traverse speed within the range that does
axis exceeded the speed limit.
not exceed the speed limit.
In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3821 14369 operating speed value of the NC X axis to the NC X axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.

In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3822 14370 operating speed value of the NC Y axis to the NC Y axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3823 14371 operating speed value of the NC Z axis to the NC Z axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3824 14372 operating speed value of the NC A axis to the NC A axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3825 14373 operating speed value of the NC B axis to the NC B axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.

In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3826 14374 operating speed value of the NC C axis to the NC C axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.

In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3827 14375 operating speed value of the NC U axis to the NC U axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.

In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3828 14376 operating speed value of the NC V axis to the NC V axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC cutting traverse command, the After checking the speed limit value of the axis connected
3829 14377 operating speed value of the NC W axis to the NC W axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.
In the NC cutting traverse command, the After checking the speed limit value of the axis connected
382A 14378 operating speed value of the NC S axis to the NC S axis, set the cutting traverse speed within the Warning
exceeded the speed limit. range that does not exceed the speed limit.

Appendix2-49
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
NC cannot be operated if NC circular In NC circular interpolation, set the position of the center
3840 14400 interpolation start point =center point or point to a position different from the start point (or end Warning
center point= end point. point).
The circular radius value in which NC circular interpolation
operation can be executed is greater than 0 and less than
2147483647pulse based on the pulse unit. Set the center
Invalid radius setting in NC circular
3841 14401 point or radius input value so that the radius can be Warning
interpolation.
calculated within the setting range. (When using the
'Position Control Range Expansion' function, 48-bit INT
range can be set.)
When performing circular interpolation operation in NC
Invalid axis designation in NC cylindrical cylindrical interpolation, the Y axis in the XY plane, the Z
3850 14416 Warning
interpolation. axis in the YZ plane, and the Z axis in the ZX plane must
be designated.
The Dwell method is specified as the
Drive the S axis with MC_MoveVelocity in the NC
3860 14432 number of revolutions, but the number of Warning
program.
revolutions is zero.
An error occurred in the spindle axis Check the error code that occurred in the spindle axis,
during NC channel automatic operation, change the spindle axis to an operable state, and then
3870 14448 Warning
so automatic operation cannot be execute the automatic operation start command
continued. (NC_CycleStart).
The operation mode of the slave Check whether the slave connected to the spindle axis
3871 14449 connected to the spindle axis cannot be supports csv or vl operation mode. Check if the operation Alarm
changed. status of the slave is normal.
Orientation operation cannot be executed Execute the NC_Home or MC_SetPosition command on
3872 14450 because the spindle axis is not home the spindle axis to make the home completion state and Warning
completion. then execute the spindle orientation operation.
When the spindle axis is automatically
controlled by the NC function module, if After correctly homing operation encoder connection
the 'Spindle encoder selection' item of the method connected to the spindle axis in the 'Spindle
3873 14451 Warning
axis parameter is '0: Disabled', the encoder selection' item of the axis parameter, execute
orientation operation (M19) cannot be orientation operation command (M19).
executed.
If the 'Spindle encoder selection' item of
the axis parameter is '1: Motor ENC', the
Add 'Position actual value (0x6064)' object to the TxPDO
'Position actual value (0x6064)' object
setting of the EtherCAT slave connected to the spindle
3874 14452 does not exist in the TxPDO setting of the Warning
axis, resume EtherCAT connection, and then execute
EtherCAT slave connected to the spindle
Orientation operation (M19).
axis, so orientation operation (M19)
cannot be executed.
If the 'Spindle encoder selection' item of If the 'Spindle encoder selection' item of the axis
the axis parameter is '2: Built-in ENC1', parameter is '2: Built-in ENC1', set the encoder 1 unit =
3875 14453 the setting of the encoder ENC1 is pulse, Encoder 1 maximum value = 2147483647, Warning
incorrect and Orientation operation (M19) Encoder 1 minimum value = -2147483648 and then
cannot be executed. execute the orientation operation command (M19), it.

Appendix 2-50
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning

If the 'Spindle encoder selection' item of If the 'Spindle encoder selection' item of the axis
the axis parameter is '3: Built-in ENC2', parameter is '3: Built-in ENC2', set the encoder 2 unit =
3876 14454 the setting of the encoder ENC2 is pulse, Encoder 2 maximum value = 2147483647, Warning
incorrect and Orientation operation (M19) Encoder 2 minimum value = -2147483648 and then
cannot be executed. execute the orientation operation command (M19), it.
The reference axis of constant speed Execute the command after setting the 'reference axis for
3880 14464 control is not set. Cannot switch to constant speed control' setting value of the NC channel Warning
constant speed control (G96) mode parameter to a value within the range of '1: X~9: W'.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) Parsing Error - Invalid
3F00 16128 corresponding block. After resetting the NC channel with Alarm
LEX MAIN TABLE configuration
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) Parsing Error - Undefined
3F01 16129 corresponding block. After resetting the NC channel with Alarm
character exists.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - the channel flags, check that there is no program error in the
3F02 16130 number has exceeded the maximum corresponding block. After resetting the NC channel with Alarm
buffer. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - tThe channel flags, check that there is no program error in the
3F03 16131 number of LEX tokens exceeds the corresponding block. After resetting the NC channel with Alarm
maximum buffer. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - more than
3F04 16132 corresponding block. After resetting the NC channel with Alarm
one decimal point.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - the channel flags, check that there is no program error in the
3F05 16133 number of parentheses in the formula corresponding block. After resetting the NC channel with Alarm
does not match. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) Parsing Error - an invalid
3F06 16134 corresponding block. After resetting the NC channel with Alarm
character exists in the formula.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - the channel flags, check that there is no program error in the
3F07 16135 Alarm
grammar of the formula is not correct. corresponding block. After resetting the NC channel with
the NC reset command (NC_Reset), execute the

Appendix2-51
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - this is not
3F08 16136 corresponding block. After resetting the NC channel with Alarm
an allowed macro variable.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - TANGENT
3F09 16137 corresponding block. After resetting the NC channel with Alarm
operation error.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - SQUARE
3F0A 16138 corresponding block. After resetting the NC channel with Alarm
ROOT operation error.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - the
3F0B 16139 corresponding block. After resetting the NC channel with Alarm
denominator of division cannot be zero
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - the
3F0C 16140 corresponding block. After resetting the NC channel with Alarm
grammar is not correct.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) Parsing Error - Invalid
3F0D 16141 corresponding block. After resetting the NC channel with Alarm
YACC MAIN TABLE configuration
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - tThe channel flags, check that there is no program error in the
3F0E 16142 number of YACC tokens exceeds the corresponding block. After resetting the NC channel with Alarm
maximum buffer. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - Unable to
3F0F 16143 corresponding block. After resetting the NC channel with Alarm
open IPR semaphore.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - exited
3F10 16144 corresponding block. After resetting the NC channel with Alarm
without M02 or M30.
the NC reset command (NC_Reset), execute the
automatic operation again.
3F11 16145 Interpreter (IPR) parsing error - command After checking the 'error block number' among the NC Alarm

Appendix 2-52
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
can be given only at the beginning of the channel flags, check that there is no program error in the
block. corresponding block. After resetting the NC channel with
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - the same
3F12 16146 corresponding block. After resetting the NC channel with Alarm
progress block exists.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - The channel flags, check that there is no program error in the
3F13 16147 number of statements exceeds the corresponding block. After resetting the NC channel with Alarm
maximum buffer the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - Could not
3F14 16148 corresponding block. After resetting the NC channel with Alarm
find next block to proceed.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - The
3F15 16149 corresponding block. After resetting the NC channel with Alarm
subprogram call syntax is incorrect.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - The channel flags, check that there is no program error in the
3F16 16150 maximum subprogram calls have been corresponding block. After resetting the NC channel with Alarm
exceeded. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - The
3F17 16151 corresponding block. After resetting the NC channel with Alarm
program has already been called.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - there is no
3F18 16152 corresponding block. After resetting the NC channel with Alarm
M99 in the subprogram.
the NC reset command (NC_Reset),execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - the
3F19 16153 corresponding block. After resetting the NC channel with Alarm
grammar of the M99 is not correct.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - the channel flags, check that there is no program error in the
3F1A 16154 Alarm
number of loops is too large. corresponding block. After resetting the NC channel with
the NC reset command (NC_Reset), execute the

Appendix2-53
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - there is no
3F1B 16155 corresponding block. After resetting the NC channel with Alarm
start of the loop.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - invalid
3F1C 16156 corresponding block. After resetting the NC channel with Alarm
connection of loop.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - exceeded
3F1D 16157 corresponding block. After resetting the NC channel with Alarm
the M command limit within one block
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - this is an
3F1E 16158 corresponding block. After resetting the NC channel with Alarm
unused G code.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - channel flags, check that there is no program error in the
3F1F 16159 Simultaneous commands cannot be givencorresponding block. After resetting the NC channel with Alarm
to one block. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - The center
3F20 16160 corresponding block. After resetting the NC channel with Alarm
point of the arc could not be found.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - It is not
3F21 16161 corresponding block. After resetting the NC channel with Alarm
possible to create a path for cycle code.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - the taper
3F22 16162 corresponding block. After resetting the NC channel with Alarm
amount of the cycle code is too large.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - It cannot channel flags, check that there is no program error in the
3F23 16163 be commanded within the cycle shape corresponding block. After resetting the NC channel with Alarm
block. the NC reset command (NC_Reset), execute the
automatic operation again.
3F24 16164 Interpreter (IPR) parsing error - there is a After checking the 'error block number' among the NC Alarm

Appendix 2-54
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
problem with the cycle shape block channel flags, check that there is no program error in the
command corresponding block. After resetting the NC channel with
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - the tool
3F26 16166 corresponding block. After resetting the NC channel with Alarm
offset number is not valid.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - the channel flags, check that there is no program error in the
3F27 16167 position of the center point of the arc does corresponding block. After resetting the NC channel with Alarm
not match the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - It cannot
3F28 16168 corresponding block. After resetting the NC channel with Alarm
make subprogram calls in MDI mode.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - channel flags, check that there is no program error in the
3F29 16169 Chamfering and rounding are only applied corresponding block. After resetting the NC channel with Alarm
to the cutting feed command. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - channel flags, check that there is no program error in the
3F2A 16170 Chamfering and rounding have been corresponding block. After resetting the NC channel with Alarm
duplicated. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - For channel flags, check that there is no program error in the
3F2B 16171 chamfering and rounding, only single axis corresponding block. After resetting the NC channel with Alarm
command is available. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - the channel flags, check that there is no program error in the
3F2C 16172 command value for chamfering and corresponding block. After resetting the NC channel with Alarm
rounding is greater than the feed amount. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - When channel flags, check that there is no program error in the
3F2D 16173 chamfering and rounding, the following corresponding block. After resetting the NC channel with Alarm
block information cannot be obtained. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - When
channel flags, check that there is no program error in the
3F2E 16174 chamfering and rounding, an arc cannot Alarm
corresponding block. After resetting the NC channel with
come to the next block.
the NC reset command (NC_Reset), execute the

Appendix2-55
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - Rounding channel flags, check that there is no program error in the
3F2F 16175 cannot be performed in the same straight corresponding block. After resetting the NC channel with Alarm
line feed. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - channel flags, check that there is no program error in the
3F30 16176 compensation start and end can only be corresponding block. After resetting the NC channel with Alarm
traversed in a straight line. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - there is no channel flags, check that there is no program error in the
3F31 16177 feed command in the cycle shape end corresponding block. After resetting the NC channel with Alarm
block. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - there is an channel flags, check that there is no program error in the
3F32 16178 axis command independent of the plane corresponding block. After resetting the NC channel with Alarm
during chamfering and rounding. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - IJK channel flags, check that there is no program error in the
3F33 16179 command limit was exceeded within one corresponding block. After resetting the NC channel with Alarm
block when calling macro. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - Modal channel flags, check that there is no program error in the
3F34 16180 macros cannot be called from corresponding block. After resetting the NC channel with Alarm
subprograms. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - there is channel flags, check that there is no program error in the
3F35 16181 exceeded the limit of multiple calls to a corresponding block. After resetting the NC channel with Alarm
modal macro. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error -This is an
3F36 16182 corresponding block. After resetting the NC channel with Alarm
unused M code.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error -Pitch
3F37 16183 corresponding block. After resetting the NC channel with Alarm
cannot be calculated for rigid tapping
the NC reset command (NC_Reset), execute the
automatic operation again.
3F38 16184 Interpreter (IPR) parsing error - string After checking the 'error block number' among the NC Alarm

Appendix 2-56
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
exceeded max buffer. channel flags, check that there is no program error in the
corresponding block. After resetting the NC channel with
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - string
3F39 16185 corresponding block. After resetting the NC channel with Alarm
construction syntax is incorrect.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - target
3F3A 16186 corresponding block. After resetting the NC channel with Alarm
processing quantity has been reached.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - user stop
3F3B 16187 corresponding block. After resetting the NC channel with Alarm
of macro program.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - It is not channel flags, check that there is no program error in the
3F3C 16188 possible to create a path for a compound corresponding block. After resetting the NC channel with Alarm
screw cycle. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - It cannot channel flags, check that there is no program error in the
3F3D 16189 be commanded during polar coordinate corresponding block. After resetting the NC channel with Alarm
interpolation. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - it cannot channel flags, check that there is no program error in the
3F3E 16190 feed to 0 during polar coordinate corresponding block. After resetting the NC channel with Alarm
interpolation. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - it is a channel flags, check that there is no program error in the
3F3F 16191 grammatical error when commanding a corresponding block. After resetting the NC channel with Alarm
circular interpolation. the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - It cannot channel flags, check that there is no program error in the
3F40 16192 be commanded during circular corresponding block. After resetting the NC channel with Alarm
interpolation. the NC reset command (NC_Reset), execute the
automatic operation again.

Appendix2-57
 Appendix 2 Error Information and measurement

Error code Alarm/

Error Description Action
Hex Dec Warning
After checking the 'error block number' among the NC
Interpreter (IPR) parsing error - It is a
channel flags, check that there is no program error in the
constant peripheral speed control mode in
3F41 16193 corresponding block. After resetting the NC channel with Alarm
polar coordinates and cylindrical
the NC reset command (NC_Reset), execute the
interpolation.
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - It is not the
3F42 16194 corresponding block. After resetting the NC channel with Alarm
homing.
the NC reset command (NC_Reset), execute the
automatic operation again.
After checking the 'error block number' among the NC
channel flags, check that there is no program error in the
Interpreter (IPR) parsing error - tool
3F43 16195 corresponding block. After resetting the NC channel with Alarm
interference has occurred
the NC reset command (NC_Reset), execute the
automatic operation again.
Program processor (PA) error - The After resetting the NC channel with the NC reset
3FE0 16352 corresponding pointer location in the command (NC_Reset), and run automatic operation Alarm
program file does not exist. again.
After resetting the NC channel with the NC reset
Program processor (PA) error - unable to
3FE1 16353 command (NC_Reset), and run automatic operation Alarm
read from program file.
again. Alarm
Check if the specified program is saved in the controller.
Program processor (PA) error - there is no After resetting the NC channel with the NC reset
3FE2 16354 Alarm
program file selected. command (NC_Reset), execute the automatic operation
again.
After resetting the NC channel with the NC reset
Program processor (PA) error - Unable to
3FE3 16355 command (NC_Reset), and run automatic operation Alarm
open NcAccess semaphore.
again.
Check that the number of characters in one block of the
Program processor (PA) error - The
specified program does not exceed 300. After resetting the
3FE4 16356 number of characters in one block is Alarm
NC channel with the NC reset command (NC_Reset),
limited to 300.
execute the automatic operation again.

Appendix 2-58
 Appendix3 Setting Example

Appendix 3 Setting Example

It describes how to set when using the motion controller at the beginning.

(1) Install the servo driver.

Connect the power and motor to the servo driver and connect external signal as necessary.

(2) Install motion controller.

Install motion controller. And at the beginning of test-run, for safety’s sake, make sure motion controller is Stop mode.

(3) Connect the motion controller and servo driver.

Connect the motion controller and first servo driver by using Ethernet cable. And connect other servo driver.
At this time, check the I/O direction of communication port of the servo driver distinctly. Below is a list of servo drive which
fundamentally has network setting information in the connection and module when servo drive and EtherCAT I/O are connected to
motion controller.

A3-1
 Appendix3 Setting Example

Notes
When the installation of servo drive has completed, make sure to check the following points by using dedicated setting TOOL
provided by the servo drive manufacturer; failure to meet the standards requires reset to meet the actual user condition.
1. Power supply
Check if the power connected to servo drive and the allowable power conditions are the same.
(There are instances where no power setting is in parameter depending on the type of servo drive.)
2. The type of motor and encoder(feedback)
Set the parameter according to the type of encoder and motor connected to actual servo drive.)
3. Command position unit setting
If it is possible to set the command position unit by servo drive parameter, make sure to set it by pulse unit (Inc. or Counts), and set
the encoder resolution value per motor rotation according to the bit number of encoder used.
(There are instances where no separate setting item exists depending on the type of servo drive.)

(4) Install XG5000 at the PC.

(5) Execute XG5000 and create motion control project by selecting “Project(P) – New Project(N)”.

A3-2
 Appendix3 Setting Example

(6) In the figure below, set up Project name, CPU series, CPU type, Program name to create new project.

(7) If you set up as the figure above, the project will be created as follows.

(8) Turn on motion controller and servo driver and connect PC with motion controller through USB or Ethernet cable.

A3-3
 Appendix3 Setting Example

(9) Select “Online(O)- Connection Setting(O)” and set up connection settings.

(10) Select “Online(O)-Connect(N)” to connect PC with motion controller.

(11) If connection is complete, the controller will be shown in ‘Run’ or ‘Stop’ as follows.

(12) If the controller doesn’t become “Online” and keeps “Offline”, check whether the controller is connected cable, is turned on.

A3-4
 Appendix3 Setting Example

(13) Check if motion controller is in Stop state. If motion controller is in Run state, change it to Stop state and execute the next steps.

(14) Writing must be executed in the motion controller after setting the servo drive actually connected to the network parameter in order
to execute the connection with servo drive. First, check if the relevant controller is in off-line state to set network parameter. If it is in
on-line state, execute "Online -Disconnect" to change it to off-line state.

(15) Right click on a mouse in the slave parameter of the project tree and select "Add item – Slave-servo drive" in order to add servo
drive to network parameter.

A3-5
 Appendix3 Setting Example

(16) When the slave information window comes up, click the“…” button next to the slave name.

(17) Select the servo drive connected first to motion controller in the servo drive selection window and click OK.

A3-6
 Appendix3 Setting Example

(18) When the axis number setting is completed, the servo drive added earlier is indicated in slave of EtherCAT parameter.

(19) Execute the servo drive addition in the same way for the other servo drives.
This is the screen to show all the servo drives actually connected to slave parameter are added.

A3-7
 Appendix3 Setting Example

(20) After setting the slave, connect the set slave and the axis to be controlled by the motion controller.
The axes are set in the order that the slave is set but the user can arbitrarily assign slaves to the axes.
Select the axis parameters in the project tree, right-click and select "Axis / slave connection" to create the following window. Here
you can assign a slave to the axis. The axis can be set to the set slave and virtual axis

(21) After adding all the EtherCAT salves connected to EtherCAT parameter, execute "Online-Connection” first and execute "Online-
Write" to write EtherCAT parameter in motion controller.

A3-8
 Appendix3 Setting Example

(22) When the project writing window comes up, check in the EtherCAT parameter and check OK to execute writing. This is the screen
to show the whole execution process of project writing.

A3-9
 Appendix3 Setting Example

(23) Select "Online – Slave - Connect” to execute communication link between motion controller and servo drive.

(24) When the link is completed, the servo drive name of slave parameter is activated to black from gray.
Execute the "View – Display EtherCAT Network" in the menu to check the servo drive connection.

A3-10
 Appendix3 Setting Example

Notes
When connecting the network for the first time after the system configuration using motion controller, use "slave auto connection" to
conveniently execute connection to servo drive without setting the EtherCAT slaver.
1. Execute the “Online - slave - auto connection” menu.

2. Popup notification message appears as follows. This is an alert message notifying when executing slave auto connection, the
network parameter set in the current XG5000 and motion controller is initialized and so the servo parameter(SDO parameter) in
XG5000 is. Check the message and click OK.

3. Slave connection message appears, and if the connection is completed normally, completion message is indicated.

A3-11
 Appendix3 Setting Example

Notes
4. When executing the “slave auto connection" command, the EtherCAT slave information currently connected to the EtherCAT
parameter slave parameter of XG5000 is automatically registered if the connection command is completed normally.

(25) Read SDO parameter to set operation parameter and SDO parameter of EtherCAT slave.
Select “Online -Read”in the menu and select the item to be read.

A3-12
 Appendix3 Setting Example

(26) Following is the reading of servo parameter content of L7NH servo drive. The content of servo parameter can differ depending on
the types of servo drive. Refer to the instruction manuals of each servo drive for details.

A3-13
 Appendix3 Setting Example

(27) SDO parameter can be set in two ways.

First method is only to change the value of one item of SDO parameter; select the 'Allow SDO Parameter(Individual) Change
during Operation' checkbox and set the SDO parameter value that you want to change, then the set value is applied to slave(servo
drive) immediately. Reflection of the modified value to the 'current value' column of SDO parameter means the value is transmitted
normally.

In order to keep the data after turn on/off the power of slave(servo drive), execute the "Online-Save slave parameter to EEPROM"
command because modifying the parameter in operation of SDO parameter (individual) is only valid when the power is currently on.

Second method is to set all the SDO parameter you want to modify and execute 'Online -Write ' to write the whole SDO parameter
in slave(servo drive) at a time.

A3-14
 Appendix3 Setting Example

When writing the whole SDO parameter, "Save SDO parameter to EEPROM" command is automatically executed. Therefore,
you do not need to execute "SDO parameter to EEPROM" separately. Refer to the instruction manual of the relevant slave(servo
drive) because sometimes modified set value is applied after the power is on/off depending on the item of SDO parameter.

(28) When finishing the SDO parameter setting, set the operation parameter of each axis and select the operation parameter of the
relevant axis in "Online-Write " to write in controller.

(29) If you turned off the power of slave(servo drive) and turned it on again in the step (28), execute "Online – Slave - Connect ” again to
connect module and slave(servo drive).

A3-15
 Appendix3 Setting Example

(30) After selecting the command axis and turning on the servo of the relevant axis, check if the relevant axis is in servo on state and
check the motor operation by operating the motor using jog or others.

(31) If vibration or noise is generated when motor is operating, adjust the responsibility, inertia ratio, and gain values of servo parameter
and transmit them to servo drive. Use the dedicated setting tool of servo drive for detailed setting such as auto tuning.

A3-16
 Appendix3 Setting Example

(32) Create motion program.

The exercise below is for the case that 2 servos are set to 1 & 2 axes using XGK CPU, and LS_CONNECT is used for connection
and the connected axis is servo on by using MC_Power. The rest of the exercise can be added as user's need.
Motion task can be divided into main task, periodic task, and initialization task. You can add program to the relevant task of the
project tree depending on the character of the program.

A3-17
 Appendix3 Setting Example

Notes
1. In the case of EtherCAT I/O products, input and output variables can be checked in “Master”-“PDO variable information.
1) After adding EtherCAT I/O (APS-EC-DT32K) to slave parameters, execute “Online (O)-Slave-Connection”.

2) Access input/output variables from “Master”-“PDO variable information”. The output of EtherCAT I/O is assigned to the
output variable (Q) and the input to the input variable (I) and can be checked in the “Device” column. The value of each
variable can be checked or changed in “Monitor Value”.

A3-18
 Appendix4 Dimension

Appendix 4 Dimension
XMC-E32A/XMC-E32C
-This figure shows the XMC-E32A. XMC-E32C has same Dimension.

※ The external size of the XMC-E16A, XMC-E08A, XMC-E32C is same as that of the XMC-E32A.

A4-1
Appendix4 Dimension

A4-2
 Appendix5 ESC (EtherCAT Slave Controller) Register

Appendix 5 ESC(EtherCAT Slave Controller) Register

The following table is the information ESC(EtherCAT Slave Controller) Register. For information on the all area, refer to the EtherCAT
Registers(SectionⅡ) datasheet on the BECKHOFF website below.
http://www.beckhoff.com/english.asp?download/ethercat_development_products.htm

1. ESC DL Status (0x0110:0x0111)

Bit Description ECAT PDI Reset Value
0 PDI operational/EEPROM loaded correctly: r*/- r/- 0
0: EEPROM not loaded, PDI not operational (no access to Process Data
RAM)
1: EEPROM loaded correctly, PDI operational (access to Process Data
RAM)
1 PDI Watchdog Status: r*/- r/- 0
0: Watchdog expired
1: Watchdog reloaded
2 Enhanced Link detection: r*/- r/- ET1100/ET1200: 1
0: Deactivated for all ports until first EEPROM
1: Activated for at least one port load, then EEPROM
NOTE: EEPROM value is only taken over at first EEPROM load after ADR 0x0000.9
power-on or reset IP Core with feature:
1 until first EEPROM
load, then EEPROM
ADR 0x0000.9 or
0x0000[15:12]
Others: 0
3 Reserved r*/- r/- 0
4 Physical link on Port 0: r*/- r/- 0
0: No link
1: Link detected
5 Physical link on Port 1: r*/- r/- 0
0: No link
1: Link detected
6 Physical link on Port 2: r*/- r/- 0
0: No link
1: Link detected
7 Physical link on Port 3: r*/- r/- 0
0: No link
1: Link detected
8 Loop Port 0: r*/- r/- 0
0: Open
1: Closed
9 Communication on Port 0: r*/- r/- 0
0: No stable communication
1: Communication established
10 Loop Port 1: r*/- r/- 0
0: Open
1: Closed

A5-1
 Appendix5 ESC (EtherCAT Slave Controller) Register

Bit Description ECAT PDI Reset Value

11 Communication on Port 1: r*/- r/- 0
0: No stable communication
1: Communication established
12 Loop Port 2: r*/- r/- 0
0: Open
1: Closed
13 Communication on Port 2: r*/- r/- 0
0: No stable communication
1: Communication established
14 Loop Port 3: r*/- r/- 0
0: Open
1: Closed
15 Communication on Port 3: r*/- r/- 0
0: No stable communication
1: Communication established
Table 1-1: Register ESC DL Status (0x0110:0x0111)

Register 0x0111 Port 3 Port 2 Port 1 Port 0

0x55 No link, closed No link, closed No link, closed No link, closed
0x56 No link, closed No link, closed No link, closed Link, open
0x59 No link, closed No link, closed Link, open No link, closed
0x5A No link, closed No link, closed Link, open Link, open
0x65 No link, closed Link, open No link, closed No link, closed
0x66 No link, closed Link, open No link, closed Link, open
0x69 No link, closed Link, open Link, open No link, closed
0x6A No link, closed Link, open Link, open Link, open
0x95 Link, open No link, closed No link, closed No link, closed
0x96 Link, open No link, closed No link, closed Link, open
0x99 Link, open No link, closed Link, open No link, closed
0x9A Link, open No link, closed Link, open Link, open
0xA5 Link, open Link, open No link, closed No link, closed
0xA6 Link, open Link, open No link, closed Link, open
0xA9 Link, open Link, open Link, open No link, closed
0xAA Link, open Link, open Link, open Link, open
0xD5 Link, closed No link, closed No link, closed No link, closed
0xD6 Link, closed No link, closed No link, closed Link, open
0xD9 Link, closed No link, closed Link, open No link, closed
0xDA Link, closed No link, closed Link, open Link, open
Table 1-2: Decoding port state in ESC DL Status register 0x0111 (typical modes only)

A5-2
 Appendix5 ESC (EtherCAT Slave Controller) Register

2. RX Error Counter (0x0300:0x0307)

Errors are only counted if the corresponding port is enabled.
Bit Description ECAT PDI Reset Value
7:0 Invalid frame counter of Port y (counting is stopped when 0xFF is r/- r/- 0
reached). w(clr)
15:8 RX Error counter of Port y (counting is stopped when 0xFF is reached). r/- r/- 0
This is coupled directly to RX ERR of MII interface/EBUS interface. w(clr)
Table 2: Register RX Error Counter Port y (0x0300+y*2:0x0301+y*2)

3. Forwarded RX Error Counter (0x0308:0x030B)

Bit Description ECAT PDI Reset Value
7:0 Forwarded error counter of Port y (counting is stopped when 0xFF is r/- r/- 0
reached). w(clr)
Table 3: Register Forwarded RX Error Counter Port y (0x0308+y)
NOTE: Error Counters 0x0300-0x030B are cleared if one of the RX Error counters 0x0300-0x030B is written. Write value is ignored
(write 0).

4. ECAT Processing Unit Error Counter (0x030C)

Bit Description ECAT PDI Reset Value
7:0 ECAT Processing Unit error counter (counting is stopped when 0xFF is r/- r/- 0
reached). Counts errors of frames passing the Processing Unit (e.g., FCS w(clr)
is wrong or datagram structure is wrong).
Table 4: Register ECAT Processing Unit Error Counter (0x030C)
NOTE: Error Counter 0x030C is cleared if error counter 0x030C is written. Write value is ignored (write 0).

5. Lost Link Counter (0x0310:0x0313)

Bit Description ECAT PDI Reset Value
7:0 Lost Link counter of Port y (counting is stopped when 0xff is reached). r/ r/- 0
Counts only if port loop is Auto. w(clr)
Table 5: Register Lost Link Counter Port y (0x0310+y)
NOTE: Only lost links at open ports are counted. Lost Link Counters 0x0310-0x0313 are cleared if one of the Lost Link Counters
0x0310-0x0313 is written. Write value is ignored (write 0).

6. AL Status (0x0130:0x0131)
Bit Description ECAT PDI Reset Value
3:0 Actual State of the Device State Machine: r*/- r/(w) 1
1: Init State
3: Request Bootstrap State
2: Pre-Operational State
4: Safe-Operational State
8: Operational State
4 Error Ind: r*/- r/(w) 0
0: Device is in State as requested or Flag cleared by command
1: Device has not entered requested State or changed State as result of a
local action
5 Device Identification: r*/- r/(w) 0
0: Device Identification not valid
1: Device Identification loaded
15:6 Reserved, write 0 r*/- r/(w) 0
Table 6: Register AL Status (0x0130:0x0131)

A5-3
 Appendix5 ESC (EtherCAT Slave Controller) Register

NOTE: AL Status register is only writable from PDI if Device Emulation is off (0x0140.8=0), otherwise AL Status register will reflect AL
Control register values.
* Reading AL Status from ECAT clears ECAT Event Request 0x0210[3].

7. AL Status Code (0x0134:0x0135)

Bit Description ECAT PDI Reset Value
15:0 AL Status Code r/- r/w 0
Table 7: Register AL Status Code (0x0134:0x0135)

8. ECAT Event Request (0x0210:0x0211)

Bit Description ECAT PDI Reset Value
0 DC Latch event: r/- r/- 0
0: No change on DC Latch Inputs
1: At least one change on DC Latch Inputs
(Bit is cleared by reading DC Latch event times from ECAT for ECAT
controlled Latch Units, so that Latch 0/1 Status 0x09AE:0x09AF indicates
no event)
1 Reserved r/- r/- 0
2 DL Status event: r/- r/- 0
0: No change in DL Status
1: DL Status change
(Bit is cleared by reading out DL Status 0x0110:0x0111 from ECAT)
3 AL Status event: r/- r/- 0
0: No change in AL Status
1: AL Status change
(Bit is cleared by reading out AL Status 0x0130:0x0131 from ECAT)
4 Mirrors values of each SyncManager Status: r/- r/- 0
5 0: No Sync Channel 0 event
1: Sync Channel 0 event pending
0: No Sync Channel 1 event
1: Sync Channel 1 event pending
11 0: No Sync Channel 7 event r/- r/- 0
1: Sync Channel 7 event pending
15:12 Reserved r/- r/- 0
Table 8: Register ECAT Event Request (0x0210:0x0211)

A5-4
 Appendix6 Using EtherCAT Slaves from other companies

Appendix 6 Using EtherCAT slaves form other companies

Describes how to use the EtherCAT slaves from other companies that is not existed ESI file in XG5000, to XMC-E32A.

(1) EtherCAT slave information file (ESI)

The information of the EtherCAT slave is defined by the ESI (EtherCAT Slave Information) file, which is supplied by the
manufacturer of slave product. Based on the ESI file information, the XG5000 configures communication settings with the
EtherCAT slave and downloads it to the XMC-E32A. ESI file is required for connection and operation of XMC-E32A and slaves.
For normal operation of slaves, the ESI file must be a version supports the slaves.

For the latest version of ESI file, please contact the manufacturer or distributor of the slaves.

(2) Adding ESI file of EtherCAT slave from other companies

The XG5000 provides functions for adding ESI file of EtherCAT slave from other companies, and searching the installation folder
of ESI file.

(a) Searching function of EtherCAT slave information (ESI) file (provided by XG5000 4.22 or later version)
After adding the ESI file to the EtherCATXML directory folder (XG5000\EtherCATXML) and restarting the XG5000, it will be
reflected in the ESI library window.
For user's convenience, XG5000 provides the function to open the folder. Perform the ESI file folder search function in the
following order.

1) Execute XG5000
2) Click ‘View’ – ‘ESI library window’ menu to activate the ESI library window.
3) Right-click on a mouse on ESI library window, and click on ‘ESI file folder’ menu.

A6-1
 Appendix6 Using EtherCAT Slaves from other companies

4) Window Explorer of ‘EtherCATXML’ folder is activated as shown below.

(b) Adding function of EtherCAT slave information (ESI) file (provided by XG5000 4.22 or later version)
EtherCAT slave information file In addition to bulk addition of ESI files by folder search, it provides individual ESI file addition
function. ESI files can be added to the ESI library window without having to restart the XG5000.
Perform the ESI file adding function in the following order.

1) Execute XG5000.
2) Click ‘View’ – ‘ESI library window’ menu to activate the ESI library window.
3) Right-click on a mouse on ESI library window, and click on ‘ESI file adding’ menu.

A6-2
 Appendix6 Using EtherCAT Slaves from other companies

4) Window Explorer of ‘EtherCATXML’ folder is activated as shown below.

5) Navigate to the folder and select ESI file. (In the example below, there is ESI files in ‘E:\ ESIFiles’ folder)

6) Slave information the selected file is added to the ESI library window.

A6-3
 Appendix6 Using EtherCAT Slaves from other companies

(3) Setting of slave supporting MDP (provided by XG5000 4.22 and XMC-E32A OS 1.1 or later

version)
The MDP (Modular Device Profile) is the EtherCAT standard (ETG50001) that defines the configuration data structure of EtherCAT
slave. Slave supporting MDP can be set in ‘EtherCAT parameter – Slave configuration edit window’ of XG5000.
In order to set slave supporting MDP, slave information and module information mounted on slave must be configured

(a) Addition of slave supporting MDP

How to add slave supporting MDP and configure module.
1) In ‘EtherCAT parameter – Slave’ menu, Right-click on, and add slave via ‘Add item - Add slave’.
2) In the slave information window, click on the button.

3) In the slave select window, select the slave supporting MDP and click on the OK button.

4) In the slave information window, click on the OK button

A6-4
 Appendix6 Using EtherCAT Slaves from other companies

5) The Slave is added as the sub item on Project tree (Motion data – EtherCAT parameter – Slave)

(b) Editing Slave supporting MDP

1) Double-click on ‘Slave – Slave1(750-354)’ on project tree
2) Click on ‘Slot setup’.
3) In the module list, select the module you want to set.
4) Select the slot you want to assign the module
5) Click on the Select button.

A6-5
 Appendix6 Using EtherCAT Slaves from other companies

(c) Check of PDO allocation information

1) Click on ‘PDO Setting’
2) Check the PDO assignment window.
3) Check the slot number of current module in ‘SL number window’
4) Check the object mapped to current slot address in ‘PDO window’

(d) Check of SDO parameter

1) Click on ‘SDO parameter’.
2) Check the added object in SDO parameter.
(However, depending on the slave type, PDO may not be added in the SDO parameter.)

A6-6
 Appendix6 Using EtherCAT Slaves from other companies

(e) Check of PDO variable information

1) Double-click on ‘EtherCAT parameter – Master’ on project tree.
2) Click on ‘PDO variable’.
3) Check the added object with slot information.
(The added PDO variable can be used as a variable specified and device in the program, after registering it in the global
variable through ‘Register variable’.)

Note
In addition to manual configuration through user editing, Automatic configuration is provided for connection of slave
supporting MDP and generation of EtherCAT parameter.
Add ESI file of slave supporting MDP on ESI library window, connect XMC-E32A and slave as network, and perform the
function 'Online - EtherCAT Slave - Auto Connect'.
If the automatic configuration does not work normally, please upgrade the product OS. (XMC-E32A OS 1.1 or later
version)

A6-7
Appendix6 Using EtherCAT Slaves from other companies

A6-8
 Appendix7 Terms of Cnet Communications

Appendix 7 Terms of Cnet Communications

1) Communication Methods
(1) Simplex communication
It refers to a communication method in which the flow of information is always transmitted in one direction.
The information cannot be sent in the reverse direction.

(2) Half-duplex communication

It is a method that can transmit information in both directions at intervals, although it cannot send the flow of
information in both directions at the same time with the use of a 1-wire cable.

(3) Full-duplex communication

It is a method in which the flow of information can be transmitted and received simultaneously with the use of a
2-wire cable.

2) Transmission Methods
In consideration of the speed, stability and economical efficiency in binary (0 and 1) data transmission,
transmission methods are divided into the following two methods.

(1) Serial communication

It is the process of transmitting data one bit at a time through one cable. It results in a lower transmission speed,
but has advantages of low installation cost and simple software.

RS-232C, RS-422 and RS-485 are applicable to serial communication.

A7-1
 Appendix7 Terms of Cnet Communications

(2) Parallel transmission

This method is used in printers, and the like. It sends one byte of data at a time, which ensures high speed and
superior data accuracy, but has a disadvantage in that the installation costs increase exponentially as the
transmission distance increases.

3) Asynchronous Communication
This method transmits only 1 character at a time in serial transmission, when the synchronous signal (clock, etc.) is
not transmitted. It sends a character code with a start bit at the beginning of 1 character and end with a stop bit at the
end.

In case of transmitting
※'KOREA'를 전송하는 경우 ‘KOREA’
Direction of transmission
전송 방향

P S P S P S P S P S P S P S
S A E T
S A T
S A T
S A T
S A T
S A T
S A E T
T R O T R T R T R T R T R T R N
O I
T T
A
R
O I
T
A A
R
O I
T
E A
R
O I
T
R A
R
O I
T
O A
R
O I
T
K A
R
O I
T Q
A
R
P P P P P P P
Y
(04H)
T Y T Y T Y T Y T Y T Y
(05H)
T

Stop Bit Parity Bit Data Bits Start Bit

4) Protocol
It refers to a communication rule defined between the transmission and reception sides of information in advance
to send and receive efficient and reliable information between more than two computers and terminals without errors.
In general, it defines call establishment, connection, structure of message exchange format, retransmission of error
message, circuit inversion procedures, and character synchronization between terminals.

A7-2
 Appendix7 Terms of Cnet Communications

5) BPS (Bits Per Second) and CPS (Characters Per Second)

BPS refers to the unit of transmission rate that indicates how many bits are sent per second in data transmission.
CPS refers to the number of characters transmitted per second.
Normally, 1 byte (8 bits) holds 1 character, so CPS is the number of bytes that can be transmitted per second.

6) Node
Node refers to the connection point of data in a network tree structure. In general, a network consists of many nodes.
It is also referred to as station number.

7) Packet
It is a term used in packet switching, which is a method of grouping data that is transmitted over a network into
packets. The packet is a combination of the words “package” and “bucket” and attaches a header that indicates a
destination address (station number, etc.) by separating the transmission data into a predetermined length.

8) Port
It refers to a part of the data processing device that receives or sends data from a remote terminal in data
communication, and it means RS-232C or RS-422 port in Cnet serial communication.

9) RS-232C
It refers to a serial communication standard established by EIA according to the recommendations of CCITT as an
interface for connecting a modem to a terminal or a computer. It is used not only for modem connection but also for
direct connection to null modem. The disadvantages are that the transmission distance is short, and only 1:1
communication is possible, and a standard that overcomes these disadvantages is RS-422, RS-485.

10) RS-422/RS-485
It is one of the serial transmission standards and enables 1:N connection and ensures longer transmission distance
than RS-232C. The difference between the two standards is that RS-422 uses four signal lines: TX(+), TX(-), RX(+)
and RX(-), whereas RS-485 has two signal lines (+) (-) and performs transmission and reception trough the same
signal line. Accordingly, RS-422 implements full-duplex communication and RS-485 implements half-duplex
communication.

A7-3
 Appendix7 Terms of Cnet Communications

11) Half-Duplex Communication

It refers to a communication method that allows communication in both directions, but not at the same time, and RS-
485 communication method is applicable to this method. Since transmission and reception are made through a single
communication line, it is mainly used in multi-drop communication systems where several stations communicate over a
single signal line. Because it uses one signal line, data may be lost due to data collision when several stations transmit
data simultaneously, thereby ensuring that only one station transmits at a time. The flowing figure shows an example of
the configuration by half-duplex communication. Since each communication station is connected to each other so that it
can transmit and receive through one line, it is possible to communicate between all stations and thus to run multiple
servers

Client
RX TX

RX TX RX TX RX TX RX TX
Slave Slave Slave Slave
12) Full-Duplex Communication

It refers to a communication method that can transmit and receive data in both directions at the same time, and RS-
232C and RS-422 communication methods are applicable to this method. Since the transmission and reception lines
are separated, it can transmit and receive data simultaneously without data collision. The figure shows an example of
the configuration of RS-422 full-duplex communication. Since the transmitting end of the server station and the
receiving end of the client stations are connected to one line, and the transmitting end of the client stations is connected
to the receiving end of the server station, the multi-server function is limited because communication between the client
stations is impossible.
Client
RX TX

RX TX RX TX RX TX RX TX
Slave Slave Slave Slave

13) BCC (Block Check Character)

Since serial communication has the potential to transmit a distorted signal due to the effects of unwanted noise in the
transmission line, BCC is required to enable a receiver side to determine whether the signal is a normal signal or a
distorted signal. The receiver side can calculate BCC for itself by using the data that came in the front-end of the BCC,
compare it with the received BCC, and determine whether the signal is normal or abnormal.

A7-4
 Appendix8 EtherCAT Diagnostics

Appendix 8 EtherCAT Diagnostics

This appendix explains the diagnosis functions provided by the EtherCAT Master and XG5000.

(1) Offline diagnostic function

XG5000 can examine effectiveness of a slave that participates in EtherCAT communication through ESI (EtherCAT Slave
Information) file inspection used by users during an EtherCAT connection.

(a) EtherCAT frame size examination

XG5000 can confirm frame sizes used by the EtherCAT that the current user added through the following procedure.

1) Select [Motion Data]-[EtherCAT Parameter]-[Master] items on the XG5000 project window.

2) Activate the master window.
3) Activate the PDO variable information item window on the master window.
4) Confirm the used frame on the screen.
The used frame is displayed as the frame usage that is currently set versus the maximum tolerated frame size.
5) If the frame size in current use is greater than the maximum tolerated frame size by adding slaves or PDO items, the progress
bar of the used frame is displayed in red.
6) When the relevant error occurs, the frame is prepared within the maximum tolerated frame size by deleting slaves or PDO
items.

(b) Effectiveness assessment for each slave operation mode

XG5000 performs the essential PDO (Process Data Object) examination for each operation mode of drive slaves that is
automatically allocated by connecting with an axis when adding slaves.

Operation modes supported by XMC products are as follows:

A8-1
 Appendix8 EtherCAT Diagnostics

Essential PDO configuration for each operation mode is as follows:

If there is no PDO item corresponding to the operation mode set in the PDO setting based on the above-mentioned contents,
the following warning message is output on the screen when adding slaves.

The following warning message is output in the result window.

A8-2
 Appendix8 EtherCAT Diagnostics

Note

The following is the contents of PDO configuration for each operation mode suggested by the Implementation
Directive for CiA402 Drive Profile
(ETG.6010 D(R) V1.1.0). For PDO configuration for each operation mode, see the contents.

(c) Effectiveness assessment of ESI files

XG5000 has a function to assess ESI files through XSD (XML Schema Definition) files, or structure-defined files of the ESI file.
An assessing item is the relationship between data in a file and consistency of the ESI file structure.

If an error is expected to occur in the ESI file of the assessed device, blue text is displayed on each slave of the ESI library
window.

For assessment of the relevant ESI, select the slave on which the blue text is displayed, right click on the menu and execute
the [ESI File Inspection] menu.

A8-3
 Appendix8 EtherCAT Diagnostics

When executing it, the following warning dialog box is displayed.

In the result window, you can confirm errors of the ESI file that the device currently assessed belongs to.

A8-4
 Appendix8 EtherCAT Diagnostics

(2) Online diagnostic function

XMC provides diagnostic functions of the EtherCAT network that is currently connected through flags and diagnostic functions.
Diagnostic flags provide a function to read the ESC Register through a flag without using the existing ESC Register read
command (LS_READESC).

The operation of diagnostic flags is conducted after the EtherCAT connection is completed through a connection behavior after
manually writing the EtherCAT parameter or conducting EtherCAT slave>>Automatic connection through XG5000.

(a) Diagnostic Flag

Flag Name Flag Description

_SLVxx_ALStatus Shows the AL status of slave applications.
_SLVxx_ALStatusCode Shows the error code of slave applications.
_SLVxx_DLStatus Shows the link status information of slaves.
_SLVxx_LinkLostCounterA/B/C/D Shows the link stop event counter for each port of slaves.

_SLVxx_InvalidFrameCounterA/B/C/D The count increases if there are errors in frame formats such as Preamble, SFD
and CRC. The whole bit sequence corresponds to the damaged frame.
Errors can occur in frames.

_SLVxx_RxErrorCounterA/B/C/D The count increases if individual symbols are not valid.

Errors can occur both in and out of frames.

_SLVxx_ForwardedRXErrCounterA/B/C/D Abnormal frames detected through the previous slaves show the received
count.

Note

For more information about a diagnostic flag value, see Appendix 5 ECS Register.

(b) Slave Diagnosis using a Diagnostic Flag

Problems can occur in EtherCAT communication due to various causes such as device failure during EtherCAT communication
and the occurrence of external EMC failure. In such a case, a slave location where a problem occurs can be estimated through a
diagnostic flag.

The following figure shows the case that communication failure occurs because external noise flows into a cable
between slave 1 and slave 2.

Slave1 Slave2 Slave3

A B A B A B

_SLV01_InvalidFrameCounter - _SLV02_InvalidFrameCounterA ↑ _SLV03_InvalidFrameCounter -

_SLV01_RxErrorCounter - _SLV02_RxErrorCounterA ↑ _SLV03_RxErrorCounter -

_SLV01_ForwardedRXErrCounterB ↑ _SLV02_ForwardedRXErrCounterB ↑ _SLV03_ForwardedRXErrCounterA ↑

As communication failure occurs due to noise that flows into a cable between slave 1 and slave 2, the value of

A8-5
 Appendix8 EtherCAT Diagnostics

SLV02_InvalidFrameCounterA or SLV02_RxErrorCounterA of slave 2 increases. As the frame that an error is detected in slave 2
is conveyed to slave 3, the value of SLV03_ForwardedRxErrCounterA of slave 3 increases. As frames in communication
loopbacked at slave 3 are conveyed to port B of slave 1 and slave 2, each value of SLV01_ForwardedRxErrCounterB and
SLV01_ForwardedRxErrCounterB increases.

Note

If a problem occurs during EtherCAT communication, diagnosis is performed by using a diagnostic flag as follows:

Sequ Diagnostic activities

ence
1 Find a slave where the value of InvalidFrameCounter or RxErrorCounter has increased.
- The location where many problems have occurred is a slave where the value of
InvalidFrameCounter or RxErrorCounter is not 0.

2 Confirm the detected slave and a cable of the slave connected to the front end.
- Confirm if the EtherCAT cable is located close to a power cable or noise sources
- Confirm if our manufactured cable is bad.
- Confirm if the cable shields are proper.

3 Confirm the detected slave and the slave device connected to the front end.
- Confirm if the power is proper.
- Confirm the ground of slaves.

4 Confirm if a problem is related with a specific device by moving the position or exchanging a
device of the detected slave.

A8-6
 Appendix8 EtherCAT Diagnostics

(c) Diagnostic information of the master

XMC provides a monitoring function that can confirm flags to confirm the EtherCAT communication status on the screen through
[Master]-[Diagnostic information].

[Description of the diagnostic information window]

a. Methods to display monitors: Decide the types of data displayed. Decimal or hexadecimal can be chosen.
b. Basic information: Monitor common information related to EtherCAT. Display basic information related to the EtherCAT
connection.
Confirm the number of EtherCAT slave connections and the error information flag when an EtherCAT error occur.
c. Count information for sending and receiving: Users can confirm the number of sending and receiving frames while
EtherCAT communication operates and the value to count PDO errors. Users can reset the current count through the
[Reset count] function.
d. Detailed information: Diagnostic flags of slaves are updated during monitoring. Users can read the current flag values
when they want to read during monitoring through the [Update the current value] function.

A8-7
 Appendix8 EtherCAT Diagnostics

(d) Confirm the CiA 402 Drive Profile support mode

Users can confirm the CiA 402 Drive Profile mode supported by a slave on the screen of diagnostic information. After selecting a
slave on the screen of diagnostic information, right click and select [Basic information of a slave].

Users can confirm information of the CiA 402 support mode supported by the relevant slave along with Slave name/Revision
information on the slave information window. Users should previously confirm if the PDO configuration is appropriate for an
operation mode to use the supported operation mode.

[Whether to support] displays support modes supported by the current slave and
a cell marked with a white color shows the CiA 402 support mode provided by the EtherCAT master of the current XMC product
family. The [Current operation mode] displays the current value of an operation mode where a slave is operating.

Note

The EtherCAT master of the XMC product family supports VL (Velocity mode), HM (Homing Mode), CSP (Cyclic sync
position mode), CSV (Cyclic sync velocity mode) and CST (Cyclic sync torque mode) among the CiA 402 drive profile
modes.
The EtherCAT slave that supports modes other than them can be used by allocating it to the operating axes.

A8-8
 Appendix8 EtherCAT Diagnostics

(e) History of slave errors

The function to view the history of EtherCAT slave errors on the screen of diagnostic information is provided. On the screen of
diagnostic information place mouse cursor to the detailed information of slaves, and right click and select the [History of slave
errors] menu. The selected history of slaves is displayed on the screen.

(f) Change the status of slaves

A function to change the status of EtherCAT slaves on the screen of diagnostic information is supported. On the screen of
diagnostic information, place the mouse cursor on the detailed information of slaves, right click and select the [Change the status of
slaves] menu and select the status that the users want to change.

A8-9
 Appendix8 EtherCAT Diagnostics

(g) Status of slave connection

A function to confirm the status of an EtherCAT slave connection on the screen of diagnostic information is supported. On the
screen of diagnostic information, place the mouse cursor on the detailed information of slaves, right click and select the [Status of
slave connection] menu and then, users can confirm the current status of slave connections.

Note

Online diagnostic flags and diagnostic functions are supported on XMC-E32A(C) OS 1.4 and XG5000 4.28 or later.

A8-10
 Warranty and Environmental Policy

Warranty

1. Warranty Period
The product you purchased will be guaranteed for 18 months from the date of manufacturing.

2. Scope of Warranty
Any trouble or defect occurring for the above-mentioned period will be partially replaced or repaired. However, please note the
following cases will be excluded from the scope of warranty.

(1) Any trouble attributable to unreasonable condition, environment or handling otherwise specified in the manual,
(2) Any trouble attributable to others’ products,
(3) If the product is modified or repaired in any other place not designated by the company,
(4) Due to unintended purposes
(5) Owing to the reasons unexpected at the level of the contemporary science and technology when delivered.
(6) Not attributable to the company; for instance, natural disasters or fire

3. Since the above warranty is limited to PLC unit only, make sure to use the product considering the safety for system configuration or
applications.

Environmental Policy

LS ELECTRIC Co., Ltd supports and observes the environmental policy as below.

Environmental Management About Disposal

LS ELECTRIC considers the environmental LS ELECTRIC’ PLC unit is designed to protect

preservation as the preferential management the environment. For the disposal, separate
subject and every staff of LS ELECTRIC use aluminum, iron and synthetic resin (cover) from
the reasonable endeavors for the pleasurably the product as they are reusable.
environmental preservation of the earth.

1
Warranty and Environment Policy

2
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