XGB EtherCAT Direct Start with XPM_DST

Direct start functionality is supported using the XPM_DST function block.

  • XPM_DST allows the CPU to control the axis without using the position data table.

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

  • XPM_ECON and XPM_SVON must be executed before executing XPM_DST.

  • The Axis must be homed before performing any absolute moves.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Set 0 to the Base number.
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
ADDR Input Destination position for the move when a request is sent. The sign of the value determines the rotation direction. Positive value is positive direction. Negative value is negative direction. This can be a constant or variable.
SPEED Input Speed the move will be executed at. This can be a constant or variable.
DWELL Input Dwell time setting 0 – 65535 ms. This can be a constant or variable.
MCODE Input M code value setting. Value not important to XEM CPU built-in motion. This can be a constant or variable.
CTRL Input Control Method. 0 = Position control, 1 = Speed Control, 2 = Feed Control. This can be a constant or variable.
ABS/INC Input 0 = Absolute Positioning, 1 = Relative Positioning. This can be a constant or variable.
ACC_SEL Input Acceleration time setting from XG-PM program. 0 = Acc. Time 1, 1 = Acc. Time 2, 2 = Acc. Time 3, 3 = Acc. Time 4. This can be a constant or variable.
DEC_SEL Input Deceleration time setting from XG-PM program. 0 = Dec. Time 1, 1 = Dec. Time 2, 2 = Dec. Time 3, 3 = Dec. Time 4. This can be a constant or variable.
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.

Absolute Positioning will move an axis to a position relative to home position. Positive ADDR value will move in positive direction. Negative ADDR value will move in negative direction.

Note: Homing needs to be completed with the XPM_ORG or XPM_FLT function block prior to executing XPM_DST in Absolute Positioning mode.

Executing XPM_DST in Absolute Positioning and Monitor in XG-PM

Relative Positioning will move an axis to a position relative to current position.

  • Positive ADDR value will move in positive direction.

  • Negative ADDR value will move in negative direction.

Executing XPM_DST in Absolute Positioning and Monitor in XG-PM

Speed Control allows the CPU to set a run speed for the axis. The axis will run at this speed until another command is executed or stopped. ADDR being a positive value will turn the axis in the positive direction. ADDR being a negative value will turn the axis in the negative direction.

XPM_DST in Speed Control Monitoring in XG-PM

FEED Control will reset the current position to 0 when executed. It will then move the number of Pulses in the ADDR value. If it is run again, then the current Position will be set to 0 again before moving.

  • Positive ADDR value will move in positive direction.

  • Negative ADDR value will move in negative direction.

XPM_DST with FEED Control Example

XPM_DST in Feed Control Monitoring in XG-PM

In this example, we want to run the axis in positive direction at 1000 pulses/sec.

 

 

 

 

 

 

 

LP627