XGB EtherCAT Inching an Axis with XPM_INC

Axis inching functionality is done using the XPM_INC function block.

  • XPM_RTP is used to return to previous position after doing a manual move.

  • The axis being controlled must already be configured using the XG-PM software before using XPM_INC and XPM_RTP.

  • XPM_ECON and XPM_SVON must be executed before using movement function blocks.

Example program is LP625_XPM_INC_Example in OnlineHelp_ECAT_Example.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set to 0.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
INCH_VAL Input Amount of movement for inching operation.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set to 0.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
INCH_VAL Input Amount of movement for inching operation.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

INCH_VAL’s value should be based on the unit setup of the axis. This example shows using inching on Axis 1.

  • Positive INCH_VAL will be in forward direction.

  • Negative INCH_VAL will be in negative direction.

XPM_INC Example XG-PM Monitoring

You can use XPM_RTP to move the axis back to the previous position before the manual move was initiated. After the manual move (jog or Inching) is complete, initiate the XPM_RTP FB to undo the manual move.

XPM_RTP XG-PM Monitoring

Many basic motion functions can be controlled through XG-PM without the PLC being populated with an inching function block. Open the Command Tool under the View menu in XG-PM. Ensure the CMD Axis is set to the desired axis to be controlled.

  • In the Command Tool ensure the correct Axis is selected at the top.

  • Populate the Inching Opr. And click Run to move the motor the desired pulses.

 

 

 

 

 

 

LP625