XGB EtherCAT Position Data Table Configuration with XG-PM
The Position Data table in XG-PM is used to setup various axis movement. Each axis can have 400 entries in the Position data table.
Opening the Position Table
The Position table is setup in the XG-PM software.
| Step | Action |
|---|---|
| 1 |
Open the XG5000 project for the application. Go to Tools menu è Position Control to open XG-PM software.
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| 2 |
Open the XG-PM project or connect to PLC and select Project è Open from PLC.
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| 3 |
Open the Position data table in the workspace for the axis that is being configured. This example shows Axis #1.
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Definition of Table Parameters
Control Type
Control Type determines the type of movement for a step in the Position data table.
| Control Type | Description |
|---|---|
| ABS, (SNG)POS | Absolute Positioning of a single axis. |
| ABS, (SNG)SPD | Speed Control for a single axis. This or INC, (SNG)SPD can be used for Speed Control. |
| ABS, (SNG)FEED | FEED Control for a single axis. This or INC, (SNG)FEED can be used for FEED Control. |
| ABS, (LIN)INT | Absolute Linear interpolation movement command. |
| ABS, (CIR)INT | Absolute Circular interpolation movement command. |
| INC, (SNG)POS | Relative Positioning of a single axis. |
| INC, (SNG)SPD | Speed Control for a single axis. This or ABS, (SNG)SPD can be used for Speed Control. |
| INC, (SNG)FEED | FEED Control for a single axis. This or ABS, (SNG)FEED can be used for FEED Control. |
| INC, (LIN)INT | Relative Linear interpolation movement command. |
| INC, (CIR)INT | Relative Circular interpolation movement command. |
Operation type
Operation Type handles what to do after the movement is finished. The Operation Type changes meaning based on the Control Type selected.
| Control Type | Section |
|---|---|
| ABS, (SNG)POS & INC, (SNG)POS | Operation type for ABS, (SNG)POS and INC, (SNG)POS |
| ABS, (SNG)SPD & INC, (SNG)SPD | Operation type for ABS, (SNG)SPD and INC, (SNG)SPD |
| ABS, (SNG)FEED & INC, (SNG)FEED | Operation type for ABS, (SNG)FEED and INC, (SNG)FEED |
| ABS, (LIN)INT & INC, (LIN)INT | Operation type for ABS, (LIN)INT and INC, (LIN)INT |
| ABS, (CIR)INT & INC, (CIR)INT | Operation type for ABS, (CIR)INT and INC, (CIR)INT |
Operation type for ABS, (SNG)POS and INC, (SNG)POS
| Operation Type | Description |
|---|---|
| SNG, END | Finish after the completion of the current step position control. |
| SNG, KEEP | Continue to the next step after the completion of the current step position control. |
| SNG, CONT | Continue to the next step continuously without stop. |
| REP, END | Change the step number to the Repeat step number after the completion of the current step position control. |
| REP, KEEP | Continue to the repeat step number after the completion of the current step position control. |
| REP, CONT | The current step and the repeat step number continuously without stop. |
Operation type for ABS, (SNG)SPD and INC, (SNG)SPD
| Operation Type | Description |
|---|---|
| SNG, END | Speed control using current step's DATA. |
| SNG, KEEP | Speed control using current step's DATA. |
| If VTP command executed, continue to the next step after the completion of the current step's positioning. | |
| SNG, CONT | Not supported. Will give an error. |
| REP, END | Speed control using current step's DATA. |
| REP, KEEP | Speed control using current step's DATA. |
| If VTP command executed, continue to the repeat step No. after the completion of the current step's positioning. | |
| REP, CONT | Not supported. Will give an error. |
Operation type for ABS, (SNG)FEED and INC, (SNG)FEED
| Operation Type | Description |
|---|---|
| SNG, END | Finish after the completion of the current step’s FEED control. |
| SNG, KEEP | Continue to the next step after the completion of the current step FEED control. |
| SNG, CONT | Not supported. Will give an error. |
| REP, END | Change the step number to the Repeat step number after the completion of the current step FEED control. |
| REP, KEEP | Continue to the repeat step number after the completion of the current step FEED control. |
| REP, CONT | Not supported. Will give an error. |
Operation type for ABS, (LIN)INT and INC, (LIN)INT
| Operation Type | Description |
|---|---|
| SNG, END | Finish after the completion of the current step’s linear interpolation. |
| SNG, KEEP | Continue to the next step after the completion of the current step’s linear interpolation. |
| SNG, CONT | Continue to the next linear interpolation step continuously without stop. |
| REP, END | Change the step number to the Repeat step number after the completion of the current step linear interpolation. |
| REP, KEEP | Continue to the repeat step number after the completion of the current step’s linear interpolation |
| REP, CONT | The current linear interpolation and the repeat step number continuously without stop. |
Operation type for ABS, (CIR)INT and INC, (CIR)INT
| Operation Type | Description |
|---|---|
| SNG, END | Finish after the completion of the current step’s circular interpolation. |
| SNG, KEEP | Continue to the next step after the completion of the current step’s circular interpolation. |
| SNG, CONT | Continue to the next circular interpolation step continuously without stop. |
| REP, END | Change the step number to the Repeat step number after the completion of the current step circular interpolation. |
| REP, KEEP | Continue to the repeat step number after the completion of the current step’s circular interpolation |
| REP, CONT | The current circular interpolation and the repeat step number continuously without stop. |
Additional Parameters
| Parameter | Definition |
|---|---|
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Target Position |
Target Position is the position the step will be at when it is finished.
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| Operation Speed |
Operation speed is the speed the axis will move at during the step.
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| Accel. No |
Choose the acceleration of the movement from the Axis Acceleration parameters.
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| Decel. No |
Choose the Deceleration of the movement from the Axis Deceleration parameters.
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| M Code |
Set the M Code when using the code number for sub operation of positioning control. |
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Dwell Time [ms] |
Dwell time is the time an axis waits after a movement for the axis to complete the step. |
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Sub. Axis Setting |
Select the sub axis for an interpolation type movement. Set to none if not using interpolation.
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Cir. Int. Auxiliary Point |
Set the secondary data (middle point, center point, radius) during circular interpolation. This is value used for the Cir. Int. mode selected. |
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Cir. int. Mode |
Set the generating method of arc (middle point, center point, and radius) during circular interpolation.
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Circular Int. Turns |
Set the number of arcs to draw during circular interpolation. This can be used to perform circles over 360 degrees. |
| Helical int. |
Set the axis to run linear operation during helical interpolation.
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Multiple Tables At Same Time
Multiple position tables can be open at the same time to allow easy data manipulation across the selected axes.
| Step | Action |
|---|---|
| 1 |
Open the Axis Position data tables that will be edited.
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| 2 |
Open Window Menu. Chose Tile Horizontally or Tile Vertically
Tile Vertically:
Tile Horizontally:
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LP623