Teaching by MPG 1.

XG5000 Project

STEP1: Run XG5000 software

STEP2: Create new project.

STEP3: Configure I/O Parameter.

STEP4: Edit Scan Program and Save Project.
STEP5: Connect to PLC and download Project.

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 Teaching by MPG 1.XG5000 Project

STEP6: Run the PLC.

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 Teaching by MPG 2.XG-PM Project

STEP1: Run XG5000 software

STEP2: Create New XG-PM Project.

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 Teaching by MPG 2.XG-PM Project

STEP3: Configure Common Parameter

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 Teaching by MPG 2.XG-PM Project

STEP4: Connect to PLC and Execute “Network Slave Autoconnect”.

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 Teaching by MPG 2.XG-PM Project

STEP5: Configure Each Axis-Parameter.

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 Teaching by MPG 2.XG-PM Project

STEP6: Edit Axis Position Data and Save Project.

In this example, I've changed all of "Operation speed" as 6000. And in PLC's Scan Program, "Target position" would be changed by "XSMD" command.

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 Teaching by MPG 2.XG-PM Project

STEP7: Download XG-PM Project to PN04B motion module.

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 Teaching by MPG 3.SCAN Program

• There are 3 PLC programs in this example as below.

• InitVariables : Initializing user varialbes. This program executed just 1 time while
PLC's mode changed to "RUN".

• MotionControlCommon : This program handles all Servo Drives at the same time.

• AX1_MovingAndTeachingWithMPG : This program is simple example of using MPG

to moving and teaching position.

• Please refer to attached XG5000 project file for details of each program.

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Teaching by MPG * Device List

Device Comment Type

M00000 Connect All Drives BIT
M00001 Servo On All Drives BIT
M00002 Servo Off All Drives BIT
M00003 Alarm Reset All Drives BIT
M00004 Z-Axis Homing Command BIT
M00005 X&Y Axis Homing Command BIT
M00006 Stop All-Axis BIT
… … …
M00010 AX1_Connect Cmd BIT
M00011 AX1_Servo On Cmd BIT
M00012 AX1_Servo Off Cmd BIT
M00013 AX1_Alarm Reset Cmd BIT
M00014 AX1_Homing Cmd BIT
M00015 Reserved BIT
M00016 AX1_STOP Cmd BIT
M00017 AX1_MPG Moving Cmd BIT
M00018 AX1_Teaching Cmd BIT
M00019 AX1_Reset Step Number as 1. BIT
M0001A AX1_Set MPG Velocity Low BIT
M0001B AX1_Set MPG Velocity Mid BIT
M0001C AX1_Set MPG Velocity High BIT

D00010 AX1_MPG Moving Velocity WORD

D00011 AX1_Step Number to change target position with current position. WORD
D00020 AX2_MPG Moving Velocity WORD
D00021 AX2_Step Number to change target position with current position. WORD
D00030 AX3_MPG Moving Velocity WORD
D00031 AX3_Step Number to change target position with current position. WORD

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Teaching by MPG * Device List

D01000 AX1_Operation State(Lower) WORD

D01001 AX1_Operation State(Upper) WORD
D01002 AX1_Information WORD
D01003 AX1_External I/O signal state WORD
D01004 AX1_Current Position(Lower) WORD
D01005 AX1_Current Position(Upper) WORD
D01006 AX1_Current Speed(Lower) WORD
D01007 AX1_Current Speed(Upper) WORD
D01008 AX1_Step Number WORD
D01009 AX1_M Code WORD
D01010 AX1_Error Information 0 WORD
D01011 AX1_Error Information 1 WORD
D01012 AX1_Error Information 2 WORD
D01013 AX1_Error Information 3 WORD
D01014 AX1_Error Information 4 WORD
D01015 AX1_Error Information 5 WORD
D01016 AX1_Error Information 6 WORD
D01017 AX1_Error Information 7 WORD
D01018 AX1_External Input Signal(Lower) WORD
D01019 AX1_External Input Signal(Upper) WORD
D01020 AX1_Servo Error Information WORD
D01021 AX1_Encoder1 Value(Lower) WORD
D01022 AX1_Encoder1 Value(Upper) WORD
D01023 - WORD
D01024 - WORD
D01025 AX1_Command Position(Lower) WORD
D01026 AX1_Command Position(Upper) WORD
D01027 AX1_Command Speed(Lower) WORD
D01028 AX1_Command Speed(Upper) WORD
D01029 AX1_Torque WORD
D01030 AX1_Common Error Information WORD

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 Teaching by MPG * System Info.

• System I/O Parameter

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 Teaching by MPG * System Info.

• Configurations
- In this example encoder(connected to XBF-PN04B) used as MPG(Manual Pulse Generator).

Programming PC
(USB)

XBC-DN32UP PN04B

Servo Drive&Motor
Test-Kit
(EtherCAT)

Encoder
(Used as
MPG)

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