Positioning with FX5U and FX5-40SSC

[Levent1970]

Hi Friends.

I need some Help with Positioning. I'm using the FX5U PLC and the FX5-40SSC "Simple" Motion Controller with Servo MR-JE-20B and Servo Motor HG-KN23K which is controlling a Linear Guide.

The JOG Modus is Working, Home Position is Working too, but I cant Programm a Position where the Motor have to Drive. I hope someone can Help.

Part of My Program looks like:

 

FX5SSC_1.stsysctrl_d.bPLC_Ready_D:=TRUE;

FX5SSC_1.stSysMntr2_D.bReady_D:=TRUE;

M_Ax1_PLC_Ready:=TRUE;
M_Ax2_PLC_Ready:=TRUE;
M_Ax3_PLC_Ready:=TRUE;

IF FX5SSC_1.stSysMntr2_D.bReady_D THEN

    FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D:=TRUE;
    
END_IF;

IF M_Ax2_Error_Reset THEN
    
    MOV( bEnable OR PLC_1st_scan , K0 , K4M700 );
    M_FX5SSC_OperateError_Ax2 (i_bEN:= TRUE ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2    ,i_bErrReset:= M_Ax2_Error_Reset ,o_bModuleErr=> bEnable ,o_uModuleErrId=> D_Ax2_Operate_Error);
    
END_IF;

IF P_Achse_HomeDrive THEN
    
    M_FX5SSC_StartPositioning_Ax2(i_bEN:= P_Achse_HomeDrive ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2 ,i_uStartNo:= 9001 ,
    o_bOK=> bEnable1 ,o_bErr=> bEnable2);
    
    RST( bEnable1 OR bEnable2 , P_Achse_HomeDrive );

    P_Achse_Referenziert:=TRUE;
    RST( TRUE , Referenzfahrt_TP_Ein_Aus ); 
    RST( TRUE , Fehleranzeige_P_Achse_nicht_Ref );
    
END_IF;
 

SpeicherP1:= REAL_TO_INT (Startposition_TP_P_Achse);

M_FX5SSC_SetPositioningData_Ax2(i_bEN:= Beginne_FahrtP ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2 ,i_uDataNo:= 1);
M_FX5SSC_StartPositioning_Ax2(i_bEN:= Beginne_FahrtP ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2 ,i_uStartNo:= 1); 
M_FX5SSC_ChangeSpeed_Ax2(i_bEN:= Beginne_FahrtP ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2 ,i_udSpeedChangeValue:= 100);
M_FX5SSC_ChangePosition_Ax2(i_bEN:= Beginne_FahrtP ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2 ,i_dTargetNewPosition:= REAL_TO_DINT(Startposition_TP_P_Achse) ,i_udTargetNewSpeed:= INT_TO_DWORD(Fahrgeschwindigkeit_TP_P_Achse)); 
    
IF StartPAxis THEN
    
    FX5SSC_1.stnAxCtrl1_D[1].dTargetNewPosition_D:=REAL_TO_DINT(Endposition_TP_P_Achse);
    FX5SSC_1.stnAxCtrl2_D[1].uPositioningStart_D:=1;
    
END_IF;

[Gambit]

What do yo mean exactly when you say you can't program a position ? You can't define a position or drive to a position ?

When it doesn't wotk do you get an error ?

If you are more familiar with PLC OPEN there are FB's available. 

p.s. I saw this piece of code :    MOV( bEnable OR PLC_1st_scan , K0 , K4M700 );

You should try not to use hard addressing and replace the K4M700 with an array instead 

[Levent1970]

Thanks Gambit, I started to use the FB s from Mitsubishi, I'm not so Familar with the MC FB, I found out how i can send my Axis to the Position, my problem is, i cant do it again. I have to restart the PLC to drive it once time to this position.

DMOV( TRUE , INT_TO_DINT(Sollgeschwindigkeit_TP_P_Achse) , U1\G7104 );        //Startposition Geschwindigkeit
DMOV( TRUE , INT_TO_DINT(Sollgeschwindigkeit_TP_P_Achse) , U1\G7114 );        //Endposition Geschwindigkeit
DMOV( TRUE , INT_TO_DINT(Sollgeschwindigkeit_TP_P_Achse) , U1\G7084 );        //Parkposition Geschwindigkeit
DMOV( TRUE , REAL_TO_DINT(Parkposition_TP_P_Achse /1.3103) , U1\G7086 );
DMOV( TRUE , REAL_TO_DINT(Startposition_TP_P_Achse/1.3103) , U1\G7106 );
DMOV( TRUE , REAL_TO_DINT(Endposition_TP_P_Achse/1.3103) , U1\G7116 );

M_FX5SSC_StartPositioning_Ax2(i_bEN:= Schweissen_ein OR Taster_Schweissen_Ein AND P_Achse_Referenziert ,i_stModule:= FX5SSC_1 ,i_uAxis:= 2 ,i_uStartNo:= 11 ,o_bOK=> StartPosition_OK ); 

Achse2_InPosition:=U1\G2517.F;
Achse2_InArbeit:=U1\G31501.1;

[Gambit]

Should be an issue with your enable. Why not change to a some bt which isn't in your program. and try if that works.
(i_bEN:= Schweissen_ein OR Taster_Schweissen_Ein AND P_Achse_Referenziert  )

If it doesn't do you get an error at the second attempt ?

[Levent1970]

OK it Works, it was a Bit by Initializing :) How can i set a 3rd Position like a "Parkposition" in my List? Its only a Position, which my Axis drives after Start to there and if its done with the Oscillation between Start and Endposition (List Pos. 11 and 12) it drives again to my Parkposition.

Edited June 19, 2019 by Levent1970

[glavanov]

Just set Positioning data #12 as CONT.

Set Positioning data #13 as END, ABS and positioning address for parking the Axis.

[Ninza T]

Hi Levent1970, can you share me where you can download " FB s from Mitsubishi ", i can't find example from mitsubishi.

Edited June 27, 2019 by Ninza T

[Ekke]

4 hours ago, Ninza T said:

Hi Levent1970, can you share me where you can download " FB s from Mitsubishi ", i can't find example from mitsubishi.

They should appear when you add  FX5-40SSC to Module Configuration.. I'm using FB-language and have these in Element Selection -> Module:

[Gambit]

Actually he's using the MC.... PLC open FB instead of the Mitsubishi ones but they are both good.

[Ninza T]

Thank Ekke, Gambit.