Programacao final Programacao final Author: MARISAU Created: 15/11/2019 08:21:06 Last Modified: 15/11/2019 08:21:06 Comment: PROGRAMACAO TINALIZADA! documenta¢ao Sysmac Studio Module Version: 1.25.1.0 1/191Programacio final Table of Contents Programasto final 3 1new_Controller_0 3 [-L.EtherCAT Network Configuration and Unit Operation Settings 3 1-2.CPUExpansion Racks 9 1-2-L.NX Bus Configuration and Unit Operation Settings 9 13.10 Map a 1-4.Contoller Setup 16 1-4-1.operation Settings 16 1-4-2.Built-n EthesNevIP Port Settings 19 1-4-3 Built-in LO Settings 21 1-4-4 Option Board Settings, 2 14S Memory Settings 23 1-5.Motion Cool Setup 2 1-5-1 Axis Settings Fy 15-1-1.Torgue_ MI (0.MC1) 4 1-6Event Setings 26 1.7 Task Settings 7 1 8POUs 28 28 8 Fy 38 58 oe os 80 82 95 188 10.TORQUE, 100 Lapa 1st 1-9-1.Data Types 181 1-9-2.Global Variables 182 1-10.EtherNevIP Connection Settings 191 2/191new_Controller_0 EtherCAT Network Conf. 3yish eration SettingsProgramacio final ‘new_Controller_0 EtherCAT Network Co.. Master ‘Connect from = Model name Master Product name Master Number of Slaves i PDO Communications Cyele 1 ‘200005 PDO Communications Cycle 2 = Reference Clock Exist ‘Total Cable Length 1000m Fail-soft Operation Seting Fail-soft operation ‘Wait Time for Slave Startup 30s PDO communications timeout detection count 2imes Revision Check Method Setting = Actual device Serial Number Check Method ‘No check, DC Synchronous Correction Disable slave monitoring option E001 ‘Connect from Master {port PortB) Model name [R8SD-ISNOSH-ECT, Product name [R8SD-ISNOSH-ECT 200V/750W ServoDrive Revision 12 PDO Communications Cyele ‘PDO Communications Cyele 1 (2000 us) Node Address L Enable(Disable Settings Enabled Serial Number ‘0,00000000 PDO Map Settings ‘0x6040:00 261th receive PDO Mapping/Controlword ‘0x607A:00 261th receive PDO Mapping/ Target position ‘Ox60FF-00 261th recetve PDO Mapping’ Target velocity {0x6071:00 261th receive FDO Mapping/Target torque ‘0x6060:00 261th recsive PDO Mapping/Modea of operation ‘Ox60RR'00 761th receive PDO Mapping’Toxch probe function ‘Ox607F-00 261th receive PDO Mapping’ Max profile velocity ‘Ox60EO:00 261th receive PDO Mapping Positive torque limit value ‘Ox60E:00 261th receive PDO Mapping’Negative torque limit waine ‘0x603F 00 259th transiik FDO Mapping/Errer code ‘0x6041:00 257th transmit PDO Mapping/Statusword ‘0x604:00 286th transmit PDO Mapping Position ata value (0x6077:00 259th transmit PDO Mapping/Torque actual value ‘0x6061:00 259th transmit PDO Mapping/Modes of operation display ‘0x60B9:00 259th transmit PDO Mapping/Touch probe status ‘Ox60B:00 259 transmit POO Mapping Touch probe pos! pos valve ‘OxGODC:00 259th transmit PDO Mapping Touch probe pox? pos value ‘0x60FD*00 280th transmit PDO Mapping Digital inputs 0:2002:01 512th transmit PDO Mapping/Sysmac Error Status Enable Distributed Clock Enabled (DC for synchronization) Shift Time Setting Disabled Reference Clock Exist Setting Parameters ‘Ox10F3:05 Diagnosis History Flags 0 Backup Parameter Settings 2200.00 Communications Error Setting 1 (Drive Parameter Settings) 2201.00 Sync Not Received Timeout Setting 0 3000.01 Basic Functions - Motor Rotation Direction Selection 1 $3000.03 Basic Functions - Control Method Selection 1 3000.04 Basic Functions - Function Settings 1 2001 01 Machine -Ineria Ratio 250 3001.02 Machine - Backlash Compensation Selection 0 3001.03 Machine - Backlash Compensation Amount 0 3001.04 Machine - Backlash Compensation Time Constant 0 3001.05 Machine - Motor Revolutions 1 3001.06 Machine - Shaft Revolutions 1 3011.01 Position Command Filter - FIR Filter Enable 0 3011.02 Position Command Filter - FIR Filter Moving Average Time on 3011.03 Position Command Filter - IR Filter Enable | 4/191Programacio final ‘new_Controller_0 EtherCAT Network Co.. 3011.08 Position Command Filter - IR Filter Cutoff Frequency 21.9 4012 01 Daamping Control - Darmping Filter 1 Selection 0 3012.02 Damping Control - Damping Filter 2 Selection 0 3013.01 Damping Filter | - Ist Frequency 300 3013.02 Damping Filter 1 - Ist Damping Time Coelticient 100 3013.03 Dasuping Filter | - 2nd Frequency 300 3013.04 Damping Filter 2nd Damping Time Cocfficicat 100 4013.05 Dumping Filter 1-3 Frequency 300 3013.06 Damping Filter 1 - 3rd Damping Time Coefficient 100 3013.07 Damping Filter 1 -&th Frequency 300 3013.08 Damping Filter 1 - 4th Damping Time Coetticient 100 3014.01 Damping Filter 2- 1st Frequency 300 3014.02 Damping Filter 2- 12t Damping Time Coefficient 100 3014.08 Damping Filter 2 - 2nd Frequency 300 3014.04 Damping Filter 2- 2nd Damping Time Coefficient 100 3014.05 Damping Filter 2 - 3rd Frequency 300 3014.06 Damping Filter 2- 3rd Damping Time Coefficient 100 3014.07 Damping Filter 2 - ath Frequency 300 3014.08 Damping Filter 2 - 4th Damping Time Cocflicicnt 100 3001 01 Velocity Command Filter - Acceleration Time 0 3021.02 Velocity Command Filter - Deceleration Time 0 3021.03 Velocity Command Filter - IIR Filter Enable 0 3021.04 Velocity Command Filter - Filter Cutot Frequency 5000 3031.01 Velocity Limit in Torque Control - Velocity Limit Value 20000 3041 01 Command Dividing Function - Operation Selection in esv 0 3041.02 Command Dividing Funcion - Inerolaion Tine Period Value 2 3041.03 Command Dividing Function - Interpolation Time Index -3 3041.10 Command Dividing Function - Interpolation Method Selection in exp 0 3112.01 ODE Velocity Feed-forward - Gain 30 3112.02 ODF Velocity Feed-forward - LPF Enable 0 3112.03 ODF Velocity Feed-forward - LPF Cutoff Frequency $000, 3113.01 ODF Torque Feed-forward - Gain 0 3113.02 ODE Torque Feeo-forward - LPF Enable 0 3113.03 ODF Torque Feed-forward - LPF Cutoff Frequency £000 3120.01 TDF Position Control - Command Following Gain 50 3120.10 TDF Position Control - Command Following Gain Selection n 3120.11 TDF Position Control - Command Following Gain 2 21.9 3121.01 TDE Velocity Control - Command Following Gain 100 312110 TDF Velocity Coatiol - Command Following Gain Selection ° 3121.11 TDF Velocity Control - Command Following Gain 221.9, 3212.01 Gain Switching in Position Control - Mode Selection 0 3212.02 Gain Switching in Position Control - Delay Time $ 3212.03 Gain Switching in Position Control - Speed 50 3212.04 Gain Switching ia Position Coutiol- Tine 10 3212.01 Ist Position Control Gain - Proportional Gain 44 3214.01 2nd Position Control Gain - Proportional Gain 4.4 3222.01 Gain Switching in Velocity Control - Mode Selection 0 3223.01 Ist Velocity Control Gain - Proportional Gain 21.9 3223.02 Ist Velocity Control Gain - Integral Gain 5.3 $3224.01 2ud Velocity Cou Gai - ropostioual Gain 21.9 3224.02 2nd Velocity Control Gain Integral Gain S.$ 3232.01 Filter Switching in Torque Control - Mode Selection 0 3233.01 Ist Torque Command Filter - Enable | 3233.02 Ist Torque Command Filter - Cutoff Frequency 153.6 3234.01 2nd Torque Command Filter - Enable 1 3284.02 2nd Torque Command Filter - Cull Frequency 133.6 3310.01 Torque Compensation Viecous Friction Cooffcient 0 3310.02 Torque Compensation - Unbalanced [ond Compensation 0 3310.03 Torque Compensation - Positive Dynamic Friction ‘Compensation 0 3310.04 Torque Compensation - Negative Dynamic Friction ‘Compensation 0 3320.01 Adaptive Notch Filter Adaptive Notch Selection 0 3390.03 Adaptive Notch Filter Resonance Detection Threshold 4 3321.01 Ist Notch Filter - Enable 0 5/191Programacio final ‘new_Controller_0 EtherCAT Network Co.. 3321.02 1st Notch Filter - Frequency 5000 4301 08 Lat Notch Filter - Qvale 1d 3321.04 Ist Notch Filter- Depth 60 3322.01 2nd Notch Filter - Enable 0 3322.02 2nd Noteh Filter - Frequency 5000 '3322.08 2nd Notch Filter - Q-value 1.4 3322.04 2nd Notch Filter Depth 60 3203 01 Ae Notch Filter - Fale 0 3323.02 3rd Notch Filter - Frequency 000 3323.03 3rd Notch Flter- Q-value 14 3323.04 3rd Noveh Filter- Depth 60 3324.01 aih Novch Filter - Enable 0 3324.02 4th Notch Filter - Frequency $000 4332403 Ath Notch Filter - Quvalue 14 3324.04 ath Notch Filter - Depth 60 3330-01 Torque Limit - Switching Selection 0 3330.02 Torque Limit - Max Torgue 500 3330.08 Torque Limit - Positive Torque Limit Value 500 3330.04 Torque Limit - Negative Torque Limit Value 500 3320 05 Torque Limit - Positive Torque Limit Value ? S00 '3330,06 Torgue Limit - Negative Torque Limit Value 2 $00 300.01 Homing - Zero Position Range 8000 '3A00.02 Homing - Homing Method 0 300.03 Homing - Speed During Search for swt 3000 3400.04 TToming - Speed During Search for Zero 5000 3400.05 Homing - Homing Aeceleration 1000000 '3A00,06 Homing - Home Offset 0 3B10.0 Drive Prohibition - Enable 0 3B10.02 Drive Prohibition - Stop Selection 2 3811.01 Sontware Position Limit - Enable Selection 0 3D11 02 Software Position Limit - Stop Selection 2 3811 03 Software Position Limit - Min Position Limit -£00000 3B11.04 Software Position Limit - Max Position Limit 500000 3B20.01 Stop Selection - Shutdown Option Code -5 3820.02 Stop Selection - Disable Operation Option Code -4 ‘3820.03 Stop Selection - Halt Option Code 1 3020.08 Stop Selection - Fault Reaction Option Code -$ 321.01 Deceleration Stop - Torgue $00 3B30.01 Touch Probe | - Touch Probe 1 Source 1 3831.01 Touch Probe 2 - Touch Probe 2 Source 2 3840.01 Zone Notification | - Lower Limit 0 $3140.02 Zone Notification | - Upper Limit 0 3B44,01 Zone Notification 2~Lower Limit 0 3B41.02 Zone Notifiation 2 - Upper Limit 0 3B50.05 Position Detection Function - Following Emor Window 4000000 3B51.01 Positioning Completion Notification - Position Window 8000 3152.01 Positioning Completion Notification 2 - Position Window 3000 3952.02 Positioning Completion Notifcstion 2 - Notification Condition 1 3860.01 Speed Detection Function - Velocity Attainment Detection Level 1000 $3860.02 Speed Detection Function - Zero Speed Detection Level 50 3860.03 Spee Detection Function - Velovity Coufounity Detection Range S0 '3RGO,04 Speed Detection Function - Fxcessive Speed Detection Level 0 3B60.05 Speed Detection Function - Excessive Velocity Deviation Detection Level 0 370.01 Vibration Detection 3B71.01 Runaway Detection Enable AAKOOI Toad Chamcterstic Fstimation - Inertia Ratio. Update Selection 1 3B80.02 Load Characteristic Estimation - Viscous Friction ‘Compensation Update Selection 0 3B80.03 Load Characteristic Estimation ~ ‘Compensation Update Selection 0 ARSOML Toad Characteristic Fstimation ~ ‘Compensation Update Selection 0 6/191Programacio final ‘new_Controller_0 EtherCAT Network Co.. 380.05 Load Characteristic Estimation - Viscous Frietion Tuning Coefficient 100 380.06 Load Characteristic Estimation - Estimation Sensitivity Selection | 4020.01 Waring Customization - Warning Mask 1 Selection 0 4620.03 Warning Customization - Warning Mask 3 Selection 0 4020.08 Warning Customization Warning Hold Selection 0 4070.08 Waring Customization - Waming Tevel Change 1 Selection 0 4020.07 Waring Customization - Waming Level Change 3 Selection 0 4621.01 Warning Ouput 1 Seung ~ Selection 1 0 4021.03 Warning Output 1 Setting -Scletion 3 0 4022 O1 Warning Output 2 Setting - Selection 1 0 4022.03 Warning Output 2 Setting - Selection 3 0 4030.01 Information Customization - Information Level Change Selection 0 4110.01 Monitor Data via PDO - Target Object 10 4110.02 Monitor Data via PDO - Target Object 20 {4110.03 Monitor Data via PDO - Target Object 30 4110.08 Monitor Data via PDO - Target Object 40 4150.01 Overioad - Waming Notification Level 85 4210.01 Display - LED Display Selection 0 4310.01 Regeneration - Extemal Regeneration Resistor Selection 0 4910.02 Regeneration -Extemal Regencration Resistance 0.1 4310.03 Regeneration - Extemal Regeneration Allowable Power 1 4310.04 Regeneration - Extemal Regeneration Overload Ratio 85 4320.01 Main Circuit Power Supply - Momentary Hold Time 15 4320.02 Main Circuit Power Supply - Phase Loss Detection Enable 0 4320.03 Main Circuit Power Supply - Capacitor Discharge Enable 1 4510.01 Encoder - Operation Selection when Using Absolute Encoder 4510.02, Encoder ~ Absolute Encoder Counter Overflow Warning Level 32000 4602.01 Function Output - Bit Mask 0 4610.01 Brake ineriock Output - Enable 1 4610.02 Drake Interlock Output - Timeout at Servo OFF 00 4610.03 Brake Interlock Output - Threshold Speed at Servo OFF 30, 4610.04 Brake Interlock Output - Hardware Delay Time 0 4620.01 Encoder Dividing Pulse Output - Enable 0 4620.02 Encoder Dividing Pulse Output - Dividing Numerator 2500 4620.03 Lncoder Dividing Pulse Outpat - Dividing Denominator 0 4620.04 Encoder Dividing Pulse Output - Output Reverse Selection 0 4630.01 Positive Drive Prohibition Input - Port Selection 0 4630.02 Positive Drive Prohibition Input - Logic Selection 1 4631.01 Negative Drive Prohibition Input - Port Selection 0 4631.02 Negative Drive Prohibition Input - Logic Selection 1 4632.01 External Latch input | - Port Selection O 4632.02 External Latch Input 1 ~ Logic Selevtion 0 {4633.01 Extoral Latch Input 2- Port Salection 0 4633.02 External Latch Input 2 - Logic Selection 0 4634.01 Home Proximity Input - Port Selection O 4634.02 Home Proximity Input - Logic Selection 0 4635.01 Positive Torque Limit Input - Port Selection O 4635.02 Positive Toxyue Limit tuput - Logic Selextion 0 4636.01 Negative Torque Limit Input - Port Selection 0 4636.02 Negative Torque Limit Input - Logie Selection 0 4637.01 Error Stop Input - Port Selection O 4637.02 Enror Stop Input - Logie Selection 1 4638.01 Monitor Input I - Port Selection 0 4638.02 Monitor Input I~ Logic Selection 0 4639.01 Monitor Input 2 Port Selection 0 {4639 02 Monitor Input ?-Togie Selection 463A.01 Monitor Input 3 - Port Selection 0 463.02 Monitor Input 3 - Logic Selection 0 4638.01 Monitor Input 4 - Port Selection 0 4638.02 Monitor Input 4 - Logic Selection © 463C.01 Monitor Input - Port Selection O GRC 02 Monitor Input § -Tagic Selection 0 463D,01 Monitor Input 6- Port Selection 0 7/191Programacio final ‘new_Controller_0 EtherCAT Network Co.. 4630.02 Monitor Input 6- Logie Selection 0 AGF 01 Monitr Input 7 - Port Selection 0 463E 02 Monitor Input 7 - Logic Selection 0 463F.01 Monitor Input 8 - Port Selection 0 4463§.02 Monitor Input 8 - Logic Selection 0 4650.01 Exot Ouiput - Port Selection 0 4650.02 Error Output Logie Selection 1 4651 01 Servo Ready Oniput- Port Selection 1 4651.02 Servo Ready Output - Logic Selection 0 4652.01 Positioning Completion Output I - Port Selection 0 4652.02 Positioning Completion Output I - Logic Selection 0 4633.01 Positioning Completion Oupput 2~ Port Selection 0 4653.02 Positioning Completion Output 2 - Logic Selection 0 4684 01 Velocity Attainment Detection Qutpot- Port Selection 0 4654.02 Velocity Attainment Detection Output - Logic Selection 0 4655.01 Torque Limit Output - Port Selection 0 ‘4655.02 Torque Limit Output - Logic Selection 0 4636.01 Zero Speed Detection Ourput - For Selection 0 4686.02 Zero Speed Detection Output - Logic Selection 0 44657 01 Velcity Conformity Outpt - Port Selection 0 4657.02 Velocity Conformity Output - Logic Selection 0 4658.01 Warning Output 1 - Por Selection 0 4658.02 Warning Output 1 - Logie Selection 0 4659.01 Wamning Oumput 2 - Fort Selection 0 4659.02 Warning Output 2 - Logie Selection 0 465A 01 Velocity Limiting Output - Port Selection 0 465.02 Velocity Limiting Output - Logic Selection 0 4465B.01 Error Clear Attribute Output - Port Selection 0 465B.02 Error Clear Attribute Output - Logic Selection 0 4465C.01 Remote Ourput | - Port Selection 2 4€5C.02 Remote Output 1 - Logic Selection 0 4681 01 Remote Output 2 - Port Selection 4 465,02 Remote Output 2 - Logic Selection 0 46SE.01 Remote Ouiput 3 - Port Selection 0 46SE 02 Remote Output 3 - Logic Selection 0 4465.01 Zone Notiication Output 1 - Fort Selection 0 465.02 Zone Notification Output 1 - Logic Selection 0 4660.01 Zone Notification Output ?- Port Selection 0 4660.02 Zone Notification Output 2 - Logic Selection 0 4661.01 Position Command Status Output - Port Selection 0 4661.02 Position Command Status Output - Logic Selection 0 4662.01 Distnbution Completed Output - Port Selection 0 4662.02 Distribution Completed Output - Logic Selection 0 4663.01 Extornal Brake Infrlock Relay Outpat -Port Selection 0 4663.02 External Brake Interlock Relay Output - Logic Selection 0 8/191‘Wide: L6ofmam] ‘new_Controller_0 NX Bus Configuration... 9/191 [NSCTinit Number [Model name Provinct name [Pevice name 0 INXiP2.0024D71 INX series controller INXBus 1 Inx.PFO730 'Additional YO Power Supply [Nt A InxnDs442 [DC taput Unit Ina B hex-ops256 [Transistor Output Unit ps3. ‘NXBus [Model name [NxiP2-9024DT1 ‘Product name INX senes controlier (Unit version 1.18 ‘NX Unit Number (0 Serial Number [- [Supply Power/Available Power 2.85 / 10.00 ‘Width 124mm ‘Number of mounted Units 3 ‘NX Unit Connection Time see Serial Number Check Method fo check FFaibsoft operation setting Fail-soft operation NI [Model name [Nw-PFO730 ‘Product name [Additional 10 Power Supply ‘Unit version 10 1NX Unit Number 1 1NX Unit Mounting Setting Enabled Serial Number jox00000000 ‘Power consumption jossw ‘Width 2mm N2 ‘Model name INX-IDse42 Provict name Hh Tope Tinie {Unit version 1.0 1NX Unit Number 2 [NX Unit Mounting Setting [Enabled Setial Number jox00000000Programacio final ‘new_Controller_0 NX Bus Configuration... [Power consumption [osow ‘width {2mm [VO allocation setings Joxou02:01 L6Pit} Input Data Set input Bit 16 bits ‘Unit operation settings {Input Filter Setting/Input Fiter Value Setting ims Input Filter Setting Input Filter Mode Seting [Enable ON Filter and OFF Filter NB [Model name [Nx-0Ds256 ‘Product name [Transistor Output Unit (Unit version 1.0 1NX Uinit Number a NX Unit Mounting Setting [Enabled Serial Number [ox00000000 ‘Power consumption 1,10 ‘Width oun {YO allocation setings [ox7002:01 t6fbit] Output Data Set 1/Ouiput Bit 16 bts ‘Unit operation settings [Load Rejection Word Setting/Load Rejection Outpat for Output [Bit (16 bits) jo 10/191Programacio final 1:3.U0 Map rnew_Controller_0 1/0 Map EtherCAT Network Configuration \Noder R88D-1SNo8H-ECT 1/191 Comtrolword _[Controlword —[W [WORD ‘Target position [Target position [W _[DINT Target velocity [Target velocity |W __[DINT ‘Target torque __|Target torque |W _|INT. Modes off Modes offw [SINT operation loperation Touch probe|Touch ——probe|W [WORD function function Max profile] Max profile|W |UDINT velocity velocity Positive torque|Positive torque|W _[UINT limit value himit value ‘Negative torque|Negative torque\W — [UINT. ‘mit value limt value Error code [Error code R__|WORD Statusword ‘Statusword R__|WORD Position actual|Position _aetuallR__ | DINT value Wvalne Torque actual|Torque —actual|R_— INT. ‘TORQUE_PORCE (Global waluo value N [Variables Modes off Modes of [SINT operation display operation display Touch probe|Touch —probe|R [WORD status status ‘Touch probe posi|Touch probe posi|K —|DINT ‘pos value {pos value ‘Touch probe pos2|Touch probe pos2|R —_|DINT ‘pos vale pos value Digital inputs __[Digitalinputs__|R__ |DWORD ‘NOT Negative DrivelR —|ROOI. Prohibition Input Por Positive DrivelR BOL Prohibition Input DEC Home Proximity|R |BOOL [Input PC Encoder Phase ZR |BOOL Detection EXT External Lateh/R-—[BOOL [Inputs EXT2 External Lateh/R-—|BOOL Input 2 MONi Monitor Input1_[R_ [BOL MON2 Monitor Input2_|R___|BOOL MON3 Monitor Inputs [R_|[BOOL POL Positive TorqueR |[BOOL [Limit Input NCL [Negative Torque|R [BOLProgramacio final rnew_Controller_0 1/0 Map 12/191 Limit Input ESTP [Error Stop Input [R__[BOOL BKIR_MONITOR |Brake —Interlock|R-_|BOOL, Output STOr Safety Input [R-_|BOOL sTO2 Safety Input2 —_|R___|BOOL, EDM EDMOutput _[R__|BOOL MON4 Monitor Input |R___|BOOL MON Monitor Inputs |R___|BOOL Sysmac Error|Sysmac —Error|R__ [BYTE Status Status Eventl.og Support |Eventlog Support |R__|BOOL, Unit Type ‘Unit Type R___BOOL Observation [Observation levels|R__|BOOL, lof information Minor Fault Minor Fault levels|R [BOL lof information (CPU/Expansion Racks Built-in 1/O Built-in 1/0 Settings Input Bitoo [Input Bitoo —[R___ [BOOL _|IN_o |S.DESCE_MESA |Global Variables Input Bit or Input Bit o1 R [BOOL [IN 'S.PRESSAO_SUP |Global (Variables Input Bitoz [Input Bitoz = |R_-/BOOL IN 2 'S.AVANCA MES |Global la (Variables Input Ritog |inpat Bites |R_——«|ROOL,——|IN_3 ISRETORNA_ME |Global ‘SA (Variables Input Bitog [input Bitoy [R_(BOOL|IN4 S.SOBE_MESA [Global [Variables Input Bitos input Bitos —([R——(BOOL—|IN_5 BT.DESLIGA_MO|Global TOR [Variables Input Bito6 [Input Bilu6 ——~([R_—(BOOL _—(|IN_6 BT.LIGA_MOTOR|Global {Variables InputBitoy —|inputBitoy —“ [R_——«(BOOL—[IN_7 'SELMAN_AUT |Global [Variables Input Bito8 [input Bito8 ~~ [R_—~(BOOL—|IN_8 BT.SOBE_MESAY |Global | Variables Input Bitog [Input Bitog — [R_——(BOOL—IN_9 BT.DESCE_MESA|Global Y (Variables Input Bit 10 Input Bit 10 R — BOOL —|IN 10 BT.AV MESAX |Global (Variables Tnpnt Bit 11 Tapnt Bit R [ROOLIN_n BT.REC_MESAX |Global | (Variables Input Bit 12 Input Bit 12 R (BOOL|IN 42 BT.LIGS_MOTOR|Global [Variables Input Bit 15 Input Bit 15 R [BOOL [INa5 (Global [Variables Output Bitoo—OutpurBitoo [RW [BOOL_[OUT_o 'SOL.VENTAGEM |Global [Variables Output Bitor —|OutputBitor [RW /BOOL [OUT a ISOLAVANGO [Global [Variables Output Bito2 [Output Bitoz [RW [BOOL[OUT_2 'SOLRETORNO [Global Variables Output Bito3 [Output Bitoz [RW [BOOL [OUT 3 'SOLPRESSAO_|GlobalProgramacio final rnew_Controller_0 1/0 Map 13/191 (Variables Output Bitog — [OulpulBitog [RW [BOOL [OUT [SOL.MONT.1_2 [Global [Variables Output Bito5 _[OutputBitos [RW [BOOL [OUT 5 'SOL.DESCE_MES |Global AY [Variables Output Bitoé [Output Bitos [RW |BOOL—[OUT_6 'SOL.SOBE_MESA |Global Y Variables Output Bito7 —_[OutputBitoy [RW [BOOL —_[OUT_7 'SOL.AV_MESA X |Global \Variables Output Bito8 Output Bito8_ [RW |BOOL —ouT 8 SOL.REC MESA |Global X (Variables Ontpnt Ritog— [Ontpnt Bitag [RW [ROOI. —_[OUT_9 HARILIT_MOTO [Global | R (Variables OptionBoard Option Board Settings OptionBoard 1 NXiW-MAB221 Cht Analog Input|Value of analog) [INT IN_ANALOG1 [Global ‘Value ‘input 1 (Variables Ch2 Analog Input|Value of analogR — |INT IN_ANALOG2 Global Value limput 2 Variables Chi Analog|Value of analog|RW |INT Output Value joutput 1 cho Analog|Value of analog RW [INT Output Value [output 2 NXBusMaster NX Bus Master Unit Status| (Under management Master) Ni NX Unit|Status whether the|R [BOL Registration INX Unit is Status registered to Unit leonfiguration information _or| not. Ni NX Unit|Stams — whether/R [ROOT Message Fnabled|cammnnications Status \with the NX Unit iis possible or not. Ni NX Unit 1/0|Status whether the|R — |BOOL Data Active Status |NX Unit 1/0 data| is controlled —or| inot. ‘Ni NX Unit Error|Status whether an/R — |BOOL Stams lerror _ocenrs on| ithe NX Unit. Ni Time Stamp of{Time information|R [ULINT Synchronous _|when the NX Unit Tnpnt hhas synchronons input refresh (in ns) Ni TimeStamp offTime information|R — [ULINT Synchronons—_|when the NX Unit Ontpnt hhas_ synchronous joutput refresh (in| ns) Ne NX Unit|Statns whether the|R— [ROOL,Programacio final rnew_Controller_0 1/0 Map Registration INX Unit is Status registered to Unit lconfiguration information or not. Ne NX Unit|Status — whether/R —_ BOOL Message Enabled|communications Status |with the NX Unit is possible or not. Ne NX Unit 1/O|Statuo whether the|R [BOL Data Active Status |NX Unit 1/0 data| is controlled —or| not. Ne NX Unit Error|Statuo whether an|R [BOL Status lerror occurs on| ithe NX Unit Na Time Stamp offTime information| [ULINT Synchronous _|when the NX Unit Input jhas _synchronous| input refresh (in ms) ‘Nez TimeStamp offfime information|R — |ULINT Synchronous __|when the NX Unit Output Ihas —synchronous| lontput refresh (in| ins) No NX Unit|Statuo whether the|R [BOL Registration NX Unit is Status registered to Unit |configuration information —_or| inot. Ng NX Unit|Stats — whetherR —_|ROOL Message Enabled|cammunications Status \with the NX Unit is possible or not. Ng NX Unit 1/OStatus whether theR — |BOOL Data Active Stams |NX Unit 1/0 data| is controlled —or| not. Ng NX Unit Error|Status whether an|R— [BOOL Stas lerror _oceurs on| ithe NX Unit. ‘No Time Stamp offTime information[R [ULINT Synchronous [when the NX Unit Input [has synchronous| input refresh (in ins) Ng TimeStamp offTime informatic ‘ULINT Synchronons—_|when the NX Unit Ontpnt [has _synchronon| joutput refresh (in! ins) Units NX-PFo730 Unite NX-ID5442 Input Bit16 bits [Input bit (16 bits) [R__ [WORD Input Bit 00 [Input Bit 00 R |BOOL /IN_14 Global Variables 4/191Programacio final rnew_Controller_0 1/0 Map Tuput Bit ox TTuput Bit or IR [BOOL [IN RELE_SEGURAN [Global Ica (Variables Input Bit 02 ‘Input Bit 02 R [BOOL[IN16 ‘ALM_CALGO_SE |Global |GURANGA (Variables Input Bit 03 [Input Bit 03 RR (BOOLINa7 ‘ALM_CORTINA_ |Global 'SEGUKANCA [Variables Input Bit 04 Input Bit o4 R — |BOOL |IN18 RELE_BIMANUA |Global L (Variables Input Bit 05 Input Bit 05 R — BOOL —|IN_19 Global (Variables Input Bit 06 Input Bit 06 R — |BOOL —|IN_20 Global (Variables Input Bit o7 Input Bit o7 RR |BOOL|IN_» BL-MANUAL —_ |Global [Variables Input Bit 08 InputBitos—[R—-[BOOL [IN _2e Global [Variables Input Bit og Input Bit og R [BOOL|IN_25 (Global \Variables Input Bit 10 Input Bit 10 R [BOOL|IN_2q Global (Variables Input Bit 11 Input Bit 11 K |BOOL|IN_25 (Global (Variables Input Bit 12 Input Bit 12. R — |BOOL |IN_26 Global (Variables Input Bit 13 Input Bit 13, R [BOOL|IN_27 Global |Variables Input Bit 14 Input Bit 14 R |BOOL [IN 28 Global |Variables Input Bit 15 Input Bit 15 RR |BOOL —_[IN_29 (Global [Variables Unity NX-OD5a56 Output Bit 6 bits [Output Bit (6|W [WORD ibits) Output Bitoo [Output Bitoo |W _|BOOL, Output Bitor [Output Bitor |W _[BOOL, Output Bito2 [Output Bito2__ |W _|BOOL Ontpnt Rito [Ontpnt Bites |W [ROOT Output Bito4 [Output Bitoy |W _|BOOL, Output Bitos [Output Bitoy |W __|BOOL, Output Bitoo [Output Bitoo |W _|BOOL, Output Bito7 [Output Bito7 |W _|BOOL, Ontput Bito8 [Output Bito8__ |W __|BOOL Output Bitoo [Output Bitog |W _|BOOL. Output Bitio [Output Bitio |W _|BOOL, Output Bitt: —[OurputBitn1 |W __|BOOL Output Bit12 [Output Bitiz |W [BOL Output Bit13 [Output Bitag_—__|W__[BOOL, Output Bit14 [Output Bitra___|W__|BOOL Output Bitis [Output Bits |W [BOOL 15/191Programacio final new_Controller_0 Operation Settings 1-4.Controller Setup 141.Operation Settings Operation Setings [Bese Settings ‘Startup mode [RUIN mode [Baxory-rolated error detection Donot wee Star delay ine at startup (oa [Memory card disgnosis at satu [Do not check. [Program wausfer by system defined variable [Do nor use Password [Restore by system defined variable Do not we [Password Instruction Error Output ‘Do not use [Write protection a startup [Donotuse Prohibit data backup to the SD Memory Card Do not use Local Natwork Tabla [No sotings [Remote Network Table [No settings [Gateway counter Swundaud @2) 16/191Programacio final Evoat Lovol Setings new_Controller_0 Operation Settings *: Event level changed from the default value 17/191 (Ci-series Analog UO Units [A/D Conversion Error [ox04600000 \C¥-series Analog VO Units |Cold Junction Sensor Error |ox04610000 (c¥-sries Analog UO Units ILO Number Specification Error in [0x348C0000 |Adjustment Mode (Ci-series Analog UO Units linput Disconnection Detected [ox6a780000 (C¥-series Analog UO Units linput Eror [ox647740000 (CHseries Analog 10 Units [input Number Speeifiation Frrar in Jox24s70000 [Observation |Adiustment Mode (Ci-series Analog 10 Units linput Value Exceeded Adjustment [0x34810000 [Observation IRange in Adjustment Mode (C¥-series Analog UO Units [output Number Specification Exor in [0x34880000 [Observation |Adjustment Mode (Ci-series Analog UO Units [Output Set Value Error fox6a790000 [Minor fait (c¥-sries Analog UO Units (Zero/Span Adjustment Period End [0x647D0000 [Observation [Creseries Analog 10 Units ero'span Adjustment Period Notice |Ox647EN000 [Observation [Cr-seris CompoNot Units [Communications Error [ox81600000_ | Minor fault [C¥-serics CompeNet Units [Repoater Unit Communications Error [0x84610000_ [Minor fault [C¥-series DeviceNet Units [File Read’Wate Encor [ox0480000 [Observation [crseries DeviceNet Units linvalid Message Timer ListErmor _[oxiasco000 [Observation [Ca-senes DeviceNet Units [emote VO Communications Error _[Ox84750000____[Minor fault [C¥-series DeviceNet Units [Routing Table Eror [ox34BC0000 [Minor fault [CF-series DeviceNet Units [Unit Memory Error fox04880000 [Minor fault \ch-series EtherNevIP Units ILink OFF Detected Joxs4e20000___ Observation [Ch-series EtherNevIP Units [Mattiole Switches ON Error foxs4AE0000 [Minor fault [Ci-series Temperature Control Units [Cold Junction Sensor Error [ox041680000 [C¥-series Temperature Contol Units [CT Overflow [oxss850000 [Cr series Temperature Control Units [Heater Burnout Alarm [ox«860000 [cr-seres Temperature Conti Units [Sensor Eor [oxc-840000 [CFeries Temperature Cont Units _[Seting Error foxs4940000____[Obvervation (CPU Unit Built-in eiberNeviP Fort [Link OFF Detected [oxsausuo0y —_[Odservation (CPU Unit Built-in EthecNevIP Port [Tag Data Link Connection Timeout [0x84090000 [Minor fault [DB Connection [Execution Log Save Failed foxi4D20000 [Minor fault [DB Connection ISQL Execution Failure Log Save |Ox14D30000 | Minor fault Failed [Motion Control Function [Acceleration Waming [ox644E0000 [Observation |Motion Contro! Function | Actual Position Overflow Jox64s40000 [Observation [Motion Control Function [Actual Postion Underfiow fox64ss0000 [Observation [Motion Control Function [Command Position Overflow fox64s20000____[Observation [Motion Control Function [Command Position Underflow _[Ox6530000 [Observation [Motion Control Function [Deceleration Warning fox614F0000 [Observation [Motion Contol Function [Negative Torque Warning [ox64510000_ [Observation [Motion Contol Function [Novice of fnsullicien Travel Distance [0x94200000 [Observation lo Achieve Blending Transit Velocity [Motion Conttol Function [Positive Torque Warning [oxe-500000 [Observation [Movion Contol Function Slave Observation Detected fox74s20000_ [Observation [Motion Contro! Function Velocity Waring foxoaaDo000 [Observation [orc UA [Execution Log Save Failed [oxis000000 [Minor fault [orc ua [Server Certificate Expiration Notice _[0x35D20000 [Observation lorcua [server certificate Expired fox3sD10000 [Minor fault SECS/GEM. [GEM Service Log Save Failed __[Ox14E10000___[Observation|Programacio final new_Controller_0 Operation Settings [SECSGEM [invalid SD Memory Card [oxi.s£40000 [Observation Sel Dingaosis [Bauery-backup Memory Check Error [0x16090000 [Minor faa Self Diagnosis [expanded storage Data Corrupted _[oxiuia0000 [observation Self Diagnosis [Expanded Storage Life [ox00140000 [Observation ‘Self Diagnosis [Low Battery Voltage jox000B0000_ [Minor fault ‘Self Diagnosis [Real-Time Clock Stopped [ox00070000 [Minor fault Self Diagnosis [SD Memory Card Data Comupted __|0x10060000 [Observation Self Diagnosis [SD Memory Card Life Exceeded _[0x00100000 [Observation [Sel Diagnosis [SP Memory Card Restored ar [nx ronano0, [Observation [Formatted Self-Diagnosis [Slow Fan [ox00120000 [Minor fault 1g/191Programacio final new_Controller_0 Built-in EtherNevIP P.. 14:2.Built-in EtherNet/IP Port Settings ‘built-in EtnerNevir Port Setings Fass ens First soing irae SERA Subse S350 ‘Default gateway ss Domus Poy DNS ser Secondary DNS server 0 Fone Waa homage Respaive fom espe ng cr [Linger option [Do not specity IP Romer Tis No stings furvksenngs Ao [FTP server ‘Do not use PrN bt [asin ? [NTP server clock information [Do nor get [Port No. 123 Server specifying method IP adress IP address [Host name NTP operation timing: ‘Specify a time. [Time [00:00:00 laterval (60 min [Timeout ime 10 se [SNMP trap SNMP vexviee [Do wot use (ron No. et (Address [Location ‘Send a recognition trap. FALSE [Recognition method TP address IP address (00.00 ost name (Community name lie [Recognition 2 Do not we [Revoguitiou meod TP adihess IP adaress (o0.00 Host name (Community name [public Do not use [Port No. 162 19/191Programacto final new Controller_0 Built-in EtherNevIP P... [Specifying method I address ir kes [Hostname [Community name ble [Version SNMPOC [Trap 2 [Do not use ‘Spectying method IP address IP address [How name (Community name ible [Version SNMPAC [PINS Secs {Node address of builtin EtherNevIF port 1 [HINSTUDP port number (3600 IP address-FINS adress conversion method ‘Automatic generation IP Address Table [No settings [Dynamically change remote TP (Convert 20/191Programacio final new_Controller_0 Built-in /O Settings 14:3.Built-in VO Settings ‘built-in VO Settings [inpu Filter Seutings No.0 input Filter ims Input Filter Settings No.0 Operation Mode [ON and OFF ters [Input Filter Settings No.1 Input Filter ms [inpt Filter Settings No.1 Operation Mode (ON and OFF filters Input Filter Settings No.2 Input Filter ms Input Filter Settings No.2 Operation Mode [ON and OFF filters Input Filter Settings No.3 Input Filter ms [inpot Filter Setings No 3 Operation Mode [ON and OFF fiers [Lond Rejection Output Settings No.0 Outputs et Losd Rejection [Turn OTT [Load Rejection Ouiput Settings No.d Outputs wi Load Rejection | Tau OFF [Load Rejection Output Settings No.2 OUIputs et Load Rejection [Tum OFF [Load Rejection Output Settings No.3 Outputs et Load Rejection | Tum OFF [Load Rejection Output Setings No.4 Outputs at Load Rejection _|Tum OFF [Coad Rejection Output Settings No.5 Outputs at Load Rejection [Tum OFF [Load Rejection Output Settings No.6 Outputs at Lod Rejection [Tum OFF [Load Rejection Output Settings No.7 Outputs at Loed Rejection [Tum OFF [Tone Rejection Qupya Settings No R Ontputs at Toad Rejection [Tam OFF [Load Rejection Output Settings No.9 Outputs at Load Rejection [Tum OFF 2/191Programacio final ‘new_Controller_0 Option Board Settings ‘option Board Settings [Option bod TexwemaBzziig [Option board [Not mounted 22/191Programacio final 1-4:5.Memory Settings ‘Memory Settings for CJ-series Units ‘new_Controller_0 Memory Settings (Enabled Icio 614d [Not retained Enabled wR 512 |Not retained [Loabled mR S12 [Retained Enabled DM ‘4090 Retained 23/191Programacio final ‘new_Controller_0 Torque_MI (0.MCI) 15.Motion Control Setup 15.1.Axis Settings 1.S:1-1.Torgue M1 O.MCH ‘Axis Parameters [Motion contol IMC: Primary pero task [Axis use [Used axis [Axis type Servo axis |Contol function Single-axis position contol only [Feedback control INo control loop Input device 1 (Canne [Ouiput device 1 [Node : 1 R8SD-ISNOSH-ECTIEOOD, [Channel r [Output device 2 (Channel [Output device 3 [Channel Lo Unit of display scarce {Command pulse count per motor station (8388608 pulsetey (Gearbox usage (Do nor use gearbox Work travel cistance per motor rotation 360 degree tev [Work travel distance per work rotation 10000 degreelrew [Work gear ratio (Numerator of the reduction ratio) T |Motor ss ratio (Denominator ofthe reduction ratio) 1 [Maximum velocity 0000 deoree's [Velocity warning valve (0% Start velocity [O degrees Maximum jog velocity 50000 degree’s [Maximum acceleration (O degrees [Acceleration waming value (0% ‘Maximum deceleration (0 degrees"? [Deceleation waming value (0% |Acceleration/ deceleration over Use rapid acceleration/deceleration (Blending is changed to Buffered) [Operation selection at Reversing Deceleration sop [Positive torque warning value (0% [Negative torque warning value (0% itn position range 10 degree In-position check time fom [Actual velocity file ie voustant [ous (Zero position range 10 degree Immediate stop input stop method Immediate stop Limit input stop method Immediate stop 24/191Programacio final ‘new_Controller_0 Torque_MI (0.MCI) [Drive eror reset monitoring time 200 ms Maximum positive torgue lini 300.0% [Maximum negative rorgue limit 300.0% [immediate stop input logic inversion [Donnot invert [Positive limit input logic inversion [Donotinvert [Negative limit input logic inversion [Do not invert |Home proximity input logic inversion Do not invert (Count mode Sofware limits Diced [Positive software limit 217183697 degree [Negative software limit 2147483648 degree [Following eur oves value [Odewee [Following emor warning valve lodegree ee [Homing method Zero positon preset [Home input signal (Use Z-phase input as home [Homing start direction Positive direction [Operation selection at positive limit input Reverse tun/immediate stop Home input detection direction Positive direction [Operation selection at negative limit init Reverse turn/immediate stop Homing velocity 10000 degree’s [Homing approach velocity 1000 degree/s [Foming acceleration (Odegee's"2 [Homing deceleration (odepreeis2 [Homing jerk (Odegree’s"3 [Home input mask distance 10000 degree Home offset (Odegree [Homing holding time 100 ms [Homing compensation value (odeoree Homing compensation velocity 1000 degrees Linear mode [Modulo ianianuan postion seting vale 2147483687 degree [Modulo minimum position serting vatue “2147483645 degree [Encoder type [PDs state control method [Main circuit power supply OFF detection [Absolute encoder ‘Switched on by Servo OFF Detect 28/191Programacio final ‘new_Controllet_0 Event Settings 16.Event Settings Language!: Detailed event information shown on HMI ita major fault level Controller error occurs: 26/191Programacio final ‘new_Controller_0 Task Settings [Primary periodic task [PrimaryTask ams Node: R88D-1SNo8H-ECT a Built-in 1/0 a -in 1/0 Settings PrimaryTask OptionBoard Option Board Settings OptionDoard 1 NXiW-MABz21 PrimaryTask NXBusMaster NX Bus Master Units NX-PFo730 'PrimaryTask Unit2 NX-ID5442 PrimaryTask Tnitg NX-OD5956 [PrimaryTask PrimaryTask [Programo [Run 27/191Programagao fins 1.8.POUs 1.8-1.Programs new _Controller_0 Variables, Program0 fess [False Fake foutt [False [False |Home [Falco [Faso SERVO_ON Fale ae [SERVO_IION ce [SERVO_MOVE. [False [False OGM ale ale i rake Take lo. [False [Fale [TEMP ROME [False [False lA [dor TIME [False [False lourmiss (001 ale MIRE ROOT ae Take law [Boor. [False [False [Mra [Boor [False [Fale (00T ae TEMP STEPS [TON [False lremp_sTEPS_ |TON [False [TEMP_STEPS [TON ae 1 STEP6 [TON [False TEMP_STEP7_ {TON Falee FEMP_STEPS_|TON, Fale TEMP_STEP9 [TON alse [TEMP_STEPIO [TON [False iP STEPIT [TON ae TEMP_STUPT2 [TON ae [TEMP_STEPIS [TON [False TEMP_STEPI4_[TON [False [Fale STEPTS [TON ae Fake TEMP_ALTER [TON [False False o TEMP_ATINR [TON ake [Fae iB ACTER [TON rae Tabs ls TEMP ACTER” |TON Fake rake ls ITEMP ALTER |TON [False False ls [UTNAT6s [BOOT [False [False [PRESSAOMAX [REAT. ae ako |Faleo Fale Fae [False [Fale \SIMULA_S.MARTELOSUP ae Take Fale zy alse Take [False [Fale [False [Fale Tae Fake le [Boor, [False [False 28/191Programagao final new _Controller_0 Variables, Programo [Boot [False False fest WORT. Fake Fake eto ILWORD, [False [Fale log THIM2—_|MC Movelou [False [False FO Joc [RFA ae fake lUTMie [Boor [False [False lremp STEP |TON [False [False MOVIMENTO_|MC_MoveVelocty [False False aur STOP_AUT [MC Stop [False [Fate {OVE SERVO [MC Move7anoPi fae fake AHOME {ton \VERIFIC (C Groupee Fae Fake ition iTEMP Movi |TON [False [Fale Ir OT False Fal eeSUnTT [LRAT [False [False IMo999. IBoo1 [False [False pEMP_STEPTS [TON [False Fale TEMP_STEPTT [TON alse [Valse [TEMP_STEPIs [TON [False [Fal 10 (001 Fale Fabe TEMP_TIOMT [TON alse Fake [TEMP_ERROI [TON [False [False TEMP_ERROZ_[TON [False ale TMP_TRROV [TON ae Fake. IMIS55 [BOOr, [False [Fake [TEMP ERROA_|TON [False [False MP_FRROS [TON ale Take TEMP-ERKOG [TON [False [False lTEMP_MONI_|TON [False [False TEMP_ERROT_[TON [False Fake SERVO ERKO [MC Resct [False [False Ik i Oo Fake Fake TEMP_MOV_V [TON [False [False lA [AUX_MOVI [ROOT a [TEMP_ERROS_|TON [False [False ITEMP-MONI2_|TON. Fale he [INT -SITIMOT [REAT. Take Take IN STOSHIMO |RFAT Faker sae L io [BOOT. [False [Fae MP_MONTY_[TON ae Fake TEMP_ADICIO [TON [False False INALI TEMP_ADICIO [TON ae Fake INAL2 TEMP ADICTO [TON ral ras INALA [RESTOSHIMO |REAT. [False [Fale 2 |RESTOSHIMO |REAL. \False Fale A [RESTOSHIMO |REAT [False [Fate ls RESTOSIIMO |REAT. rake [Fae is ATM Oar rae Take TEMP_AUX [TON [False [False lin7 Inoor. [False [False in 007. Fa Fake 29/191Programagio final now _Controller_0 Variables, Program0 [TEMP _sTEP20 [TON [False False Femp_annxm201 [TON Fake Fake FTemp_auxM163 [TON [False [Fale [TEMP AUX A |TON [False [False |UTERNATIVO [TEMP_AUX_A |TON [False [False lurERNATIVO, 2 IMOzs OT Faker Fake TEMP_RESET_|TON [False [False laut 9 oar rake Fake TEMP_ADICIO [TON [False False INALS TEMP_ADICIO [TON rake [Fae IAL in IROOT [False [Fae [AUX Taha #001. [False [False [TEMP ERROI |TON \False False L [BTV [GREAT [False [Fale imePoriiveDiee | eMC DIRECTION False vale tion IN |meNegativeDire | eMC_DIRECTIO lFalso | Faloo lation IN ISERVO_MOVE [MC_MoveAboolate [False [Fake 1217 [AUX InOOT (ake [Fae Movi TON [False [False SER (001 Fale MOVTO TON. ae Take IMov2 TON [False [Fale [TEMP SERVO [TON [False [False 1 Mov3 TON alo |Falbo TMP SERVO [TON Fale Fabe l2 jtempmtor TON [False [Fale [TON MOV, nN abe fabs TON -MOV2 [TON [False [False IMovi2, [TON \False [False [ovis TON Fale Fale TON MOVIO [TON alse [Valse TON MOVI2_ [TON [False [False TMP STEPIS-|TON Fale Fale PRESSAO_NE_[REAT ase Take lw MPa? NT rae abe TEMPmin? [TON [False [False [TEMP mins [TON \False [False TMP mat [TON Fale Fae TEMP max® TON. alse [Fae [TEMP_max3 TON [False [False PARADA iC Stop False ale (OT 100 Fake Fake [AUXT TON [Fake [Fake AUX TON [False [Fale AUNT TON ae fae [AUX# TON [False [False |AUXS ITON [False [False [AUIKG TON. [False Fale TEMP RES alse [False testo TON IFaleo yATATT EAL Fale 30/191Programagto final new _Controller_0 Variables, Programo 31/191 prt [False False ne Fake Fake DTT [False [Fale [pra IREAL. [False [Fale 7 FAT ae fake Ibis IEA. [False [False Ipra IREAL. [False [False pri FAT. [False False Dis [REAL [False [False Ipris IREAL aloo TTS EAL Fale DTS IREAT. False Ipriz0 IREAL. IFalso DTI30. TAL pTra0 FAT ase Take DE IRFAL. [False [Fab [RESTOSHIMO |REAT. [False [False lo IDTi60 Fal FATOR Fale Sun ae Fake iSUB2 [False [Fale SUBS [False [Fale Suma Tae Fake SUBS [False [False |FATOR SUR2_|REAL [False [False "ATOR-SURY[RFAT abe fabs [FATOR SUBA [REAL [False [False |FATOR SURS_|REAL. [False [False [ocr [False Fale RESTOTOC _[REAT. [False [False loc lINT [False [Fal FSTORQC [REAL Fale Fale toc INT ce focz IREAT. [False [False IRESTOQC__[REAT. ale ale TOCt INT Fake: Fake lacs IREAT. [False [Fale gc [INT [False [False FESTOAQC___|RFAT ale fake ocr IREAT- [False [False |RESTOSQC [REAL [False [False [acs INT [False Fale lacs IREAT. [False [False IPoro [REAL [False Faloo PRAR TON Fale Fale ZERART Inoor alse [Falke (ZR [Boor [False [False rE ;00L Fale TEMPEMOW [TON ae Take [AUX_POST BOOT, [False [Fale [TEMPEMOV2_|TON [False [Fale MP_SERVO [TON ae fake 3 (coRTEY (0OL Fale TEMP_CORTT TON. ale Take IMovs TON [False [False ewe TON. [False [Fale MPEMOVT_[TON fae Take [AUX_POS2 [BOOT [False [False |AUX Pos [Boor [False [False [TEMPEMOV [TON abe. Tabs TEMPEMOVa [TON [False [FalseProgramagio final new _Controller_0 Variables, Programo \ar2 [Boot [False False bp jor Fake Fake IESPERAT [TON [False [Fale (ZERARS TON [False [Fale ZERARS FON ae fake RAR TON [False [False roars Inoor. [False [False Movie TON [False Fale RESET ZERO [BOOT [False [False IMovis [TON aloo (OVI6 TON Fale iho. [Boor False |AUX_ZERAR_|BOOL. IFalso BTV CICLO — |BOOL MOD TON Fase Take [VAR EXTERNAL IN_ANALOGI_[INT Forge MI] «ART RET [Valor Angulo [LREAL [Torque MIM —_|LREAL. veh REAL OGM hore [BOOI. TOTTI antih [ROOT Fake [IN-o OO Fake INT IBOOK. False lin_2 lool. IFalo IN (001 Fale Na Inoor Fale INS IBOOr. [False IN 6 001. ale TNT jor Fake. INE IBOOK. [False IN 9 IBOOK. [alse 17 oor fae IN-Iz [001 [False [IN Inoor. False [INS 007. Fale N14 [Boor False IN_15 \Bool. IFaleo [IN Te j00T. Fale INIT Inoor False [INI [Boor IFalso N19 S001 N70 OO Take iMI00 IBOOr False IMIor IBOOK. [False IMr07 Tae imros Is001. False IMiot IBool. aloo 105 (00T- Fale IMI06 [Boor False IMi07 [Bool IFalso 108 (00 IMIOy nOOT Take [M0 isoUr. False Mit IBOOK. [alse TT (oar Take Mins [Boor [False Inia IBoor. ale m7 (007 Tabs [Mie Is001. [False 32/191Programagio final Mita [M1207 IMUI7 IMie IMT foure IMI3t four t Misa Ii33 four > four 2 Iisa our + MIs [ours IMI36 four @ [MI37 lour 7 [Mra four ® IMi39 four > IMIS [M20 Ir Miss [MIST Maa [ray Mist [mas Ira [MIT IMiso [M60- [MI6r IMi62 IMres MIGd IM65 [M66 MOO IMI [Ma Mr [Boot InoOr. IBOOL IBOOK. IROOT. [oor Inoor. [ROOT [001 \Bool. [BOOT Inoor [Boor IBOOr. InooT. [BOOT IBOOK. InOOr. [Boor Inoor. IROOT Is001. Ipoor [BOOT [B00r. [Boor IBOOr. Inoor [Boor IBOOK. InoOr. [BOOr. Inoor. IROOT [001 Inoor. [BOOT [BOOr. lool. IBOO. Inoor [Boor [BOOr. InoOr. IBOOL [Boor IROOT [Boor Inoor. IBOOT. Inoor [Bool IBOOr. Inoor IBOOK, [Boor new _Controller_0 Variables, 33/191 [Ralse Programo MAQ.FORA HOMEProgramagio final new _Controller_0 Variables, Programo 34/191 M302 [Boot [Ralse 200 j00T Fake [M201 [BOOT [False IMi99 IBOOK. [alse ui (oar fake [0s [oor [False Ia Inoor. False IMIO- (00T- Fale [Mr7z [001 False Imi73. \Bool. aloo 171 ;00L. Fale (OUT SERVOT M74 [Boor False [VALOR_GAP_|LREAL IFalso [ANEI. LOCK JREAT. Ipara |RECIPE_DATA |iNT Irateo O [RECIPE_DATA [INT [False 5 IRECIPE_DATA [INT False la SECIPE_DATR Fake 3 ECP DATA Fake I> [RESTO GAPI_|CREAT. False (9 smIMo7 ——TRFAT fake [RESTO_GAP2_|LREAL. [False [QIN SHTIMO2 |REAL. [Fale [SIMI DATAT Fale ISIIMI_DATA2 |REAT. False VELO_MAQ [REAL [Fal FLO MAQ?—|REAT. abe PORCE_ PRIS [INT False |A0 IM IN_ANALOCD INT Fale PRESSAO_ RES |REAT. False lune FORQUE_POR INT Fake IcEN RQUE MO INT Fake VM IMOVIE TELA [iNT [False Mim [POSIGAO_SER |INT IFaleo Vo_HIM [MOVE_MESNA [INT [False (GEM_IHIM MOVE_FRRO_ INT Fake HM IMIS OT. False IMIT6 IBOOK. False IMi77 IBooL. IFalso 17 (00. Fale MIT Inoor False [PORCR_VELO [INT [False Icinank, [PORCR_VELO [INT [False \cIDADE? 26 OO Take IMBOs [BOOL [False [Mas IBoor. [alse mn (oar fake [MBO [Boor [FalseProgramagto final new _Controller_0 Variables, Programo RECIPE DATA |REAL [Ralse Is ISHIML_DATA3 |REAL alo ISHIMI DATA [REAL Fabe ISIIMI_DATAS [REAT. False [ANELESPAG [REAL IFalso lo [Miz [BOOT, [False Is IBoor. False MDOT (001 ae imo Is001. False |VAR CANETA |REAL, IFaleo CALC [MI_VALOR — |REAT. [False VALOR AFERI |REAL [False IK \VALOR_CORR |REAL IFaleo CAO (GAP_FINAL REAL [False lQINT SHIMOI |REAL. IFalwo [M09 (007. Fale M210 [B00r. False Imai IBool. IFalo 12 ;00L- Fale IM05 Inoor Tralee [M206 IBOOI. False M207 5:00. sale [QINT-STTIMOT [RFAT. Fake. [INT SHIMO# [REAT. [False [QINT SHIMOS [REAL alse XT fae [KXXZ iNT [False Ixxx3 linT Fale prone rT Fale KXXS INT False IMs99 \Bool. also fT (001. Fale fms Inoor False IMo9s: [Boor Fale fm (001 he OT ROOT Take IMove IBOOr [False [M997 [Boot [False ATX TOCK Te ROOT fake lina TV_SERVOT [BOOT Fae INTV_SFRVO2_[NOOT Take [BIV_SERVO3_[BOOI. [False [BTV_SERVOA_|BOOI. [False [ONT VOrTA, Fake IHHORARIO. [QNT VOLTA iNT Fake |ANTIHORA [AUX QNT VO [BOO [False LIAL \UX_QNT_VO |BOOL IFaleo rey (ONT VOLTA [iNT [False IMONITORA, [QNT VOLTA INT False MONTTORAA Int \POSIrION_ SE {INT IFaleo RVO_ANGULO, 35/191Programagio final new _Controller_0 Variables, Programo POSITION SE_ INT [Ralse |RVO_ANGULO q [ec SERVO [BOOT False lour_servor |poot. Faleo [QNT VOLTA [REAL Fae |HORARIO PL Ic (QNT_VOLIA~ |REAT [False |ANTIHORA P Ic [ONT VOLTA |REAT [False IMONITIRA PL. le QNT_VOLTA]RTAT False MONTANT PL Ic ISTOP_SERVOI |REAT. [False [STOP_SERVO? Fale ISERVO_OK_§ |BOOL False |AIDA. FSET MOW— [ROOT Take [STOP_MONIZ_|REAT. [False STOP MONI [REAL False JREAT. Tae |A_ANTIPLC QNTMO_ VOLT |REAT. IA. HORARIO Ipc IMONT_OK SAT [HOOT False Iba KSAT [ROOT Fake [pa lou MONIT [BOOT Fae RESET MOV2_[NOOT Fale RVO_MONT |BOOL IFalso IRORA_OK SA DA [REC SERVO? [ROOT Fake [AUX_MONI_V |BOOI. False louraz [ATI MONT V_[ROOT Take lourat TV_IN-ALM[BO0L Fae fsafer [oor False fate [Boor IFalso 06 ;00r LOCK TOTAL FSET 1OCK_ [HOOT Take TORQUE ERR lo [Boor Fal IBOOL False [CREAT Fale 00T abe [Arr IBOOT. False \VOLTA_AHOM |BOOL, IFalso Q [ro_10 IREAT. [False [rq [REAL [alse 1? FAT fake [PLCTORQUE [REAL [False MAX PLC_TORQUE [REAT. Fake MIN 36/191Programagio final new _Controller_0 Variables, Programo (ro 13 [REAL [Ralse O14 FAT Fake Tos IREAL. [False ir 16 [REAL [alse O17 FAT fake Tes IREAT- [False ir 19 [REAL False TQ 70 Fale TQ ar False [ro 22 aloo rq. 23 Fale Tn 34 False [ro-25 IFalso 36 5.37 Take [ro 28 Tatoo TQ 39 [False rw Fake Tost [False [9 32 False irq3 fabs To 4 [False [ro 35 False 7.36 Fale 19 37 False [ro 38 Fao 19-39 Fale TO_40 Take [roar [False [TQ 42 ale Oa Fake. To 44 [False [TQ 45 alse rae abe TQ a7 [False [ro 48 Fale TQ_a9 False Ta 50 False |RECIPE_DATA IFaleo NEW [FATOR SUB [REAL [False ISERVO MOVI |BOOL [False MENTO PLC SERVO_A INT [Fale cree. [FLC_SERVO_D [INT [False lesac TM_SERVO, Take ACELE iM SERVO NT Fake IDESAC [ONT VOLTAN [INT False |AOMONI [ONT_VOLTAN [REAL IFaleo JAOMONL PLC [s00r, [False 37/191Be BS BSReee OS Seeeen ys bak Psy BRE new_Controller_0 SERVO IN ANALOGY RIAL#100/REAL* 19400, 77 ANALOG 7 \VELO_MAQ:#PORCR_VELOCIDADE*REALA15000/REAL#100; \VFIO_MAQ?:=PORCR_VFIOCIDANE2*RFAI#15000/RFAI #100 PRESSAO_RESULT:=(IN_ANALOG2-REAL#391)/REAL#15: // calaulo de pressao {LACT / TORQUE NA HM PLC_SERVO_ACELE:=IHM_SERVO_ACELE*INT#@18; // CALCULO PLC_SERVO_DESAC.=IlIMSCRVO_DESAC*INTH#IO, // CALCULO POSITION_SERVO_ANGULO:=ONT VOLTA HORARIO- QNT_VOLTAANTIHORA: // MONTAGEM CONJUNTO! POSITION SERVO_ANGULO1:=(QNT_VOLTA MONITORA 4QNTVOLTANAOMON)-ONT VOLTA MONITORAANTE // MONITORAMENTO TORQUE ‘QNT_VOLTANAOMONI PLC:-QNT_VOLTANAOMONI-REAL#32000; ‘QNT_VOLTA,HORARIO_PLC:=QNT_VOLTA HORARIO*REAL#32000; // MONTAGEM CONJUNTO It! J] MONTAGEM DE ‘QNT_VOLTA ANTIHORA PLC:=(QNT_VOLTA HORARIO-QNT VOLTA ANTIHORA) *INT#32000: // SERVO CONJUNTO II! ‘STOP SERVO2:=QNT VOLTA ANTIHORA PLC-INT#I: // MONTAGEM DO CONJUNTO QNTMO_VOLTA_HORARIO_PLC:=(QNT_VOLTA MONITORA 4QNT_VOLTANAOMON)"REAL#31900; // MONITORAMENTO TORQUE STOP_MONII:=QNTMO_VOUTA HORARIO_PLC-INT#1;, // MONITORAMENTO TORQUE QNTMO VOLTA ANTI PLC:=(QNT VOLTA MONITORA+QNT VOLTANAOMON-- QNT_VOLTA. MONITORAANTI)"INT#31900; _// MONITORA SERVO ‘STOP_MONI2:=QNTMO_VOLTA HORARIO_PLC-INT#1; // MONITORAMENTO PORCE_PRESSAO _IHM:=LREAL.TO_INT(PRESSAO_RESULT} TORQUE_MOV. IHiM:=TORQUE PORCEN/INT#10: POSICAO_SERVO_IHM:=LREAL_TO_INT(Torque.M1 Act Pos/IREAL#1000): MT_VALOR:=(VAR_CANETA CALC+RECIPE_DATA NEW VALOR CORRECAO)- REAL#2.98: //-REAL#19.95; // SOMATORIA VALORES CANETA +IHM GAP_FINAL:= MT_VALOR-(RECIPE_DATA6+ANEL_ESPAGO-+ANEL_LOCK DATA: // CALCULD SEGUNDO DIS IANUAA INFORMAUA FATOR_SUB:=MT_VALOR-RECIPE_DATAG-*ANEL_ESPAGO+ANEL LOCK DATA); IF (GAP_FINAL>=SHIMI_DATAT)THEN DT1:=(GAP_FINAL*INT#100): // MULTI P/ MOVE A UNIDADE (GAP_FIVAL= MoaKeaqUTT,REAL® LOU}: // RETIRA O SOBRA DUS VALORES!@tt! (T11:=(DT1-GAP_FINALJNT#100; // SUB PARA RETIRAR E MOVER A VIRGULA @ii (12:=(SHIML_DATAI*INT#100)._// MULTI P/ MOVE A UNIDADE !!@!t 1DT120:=ModRea(DT2.REAL#1.00); // RETIRA O SOBRA DOS VALORESIN@! T12:=(0T2-DT120//INT#100; // SUB PARA RETIRAR E MOVER A VIRGULA I! oH INT. SHIMO1:~ (©T11/0T12}:// PRIMERA COMPARAGIO DO MAJOR SHIMO, PARA O MENOS! RESTOSHIMO':=ModReal{QINT_SHIMO1,REAL# 1.00}: ,00(1:=LREAL_TO_INT(QINT_SHIMO1-RESTOSHIMOT}: // QNT DE SHIMO SSUB1:=FATOR SUB-0OOKTSHIMI DATA: // ACHO O RESTANTE DO GAP 38/191 Program) SERVOProgramacio final new_Controller_0 SERVO 47| ELSE 48 0O{1:=INT#O; 49, RESTOSHIMO1:=GAP FINAL: 5@ SUBI:=GAP_FINAL: 21 ENDIF; 8 53 SIF (SUB1>=SHIM| DATA2YTHEN. 54) DT3:=(SHIMLDATAZ*INT#100}._// MULTI P/ MOVE A UNIDADE 1@1! 55, DT130:=ModRea(DT3.REAL#1.00); // RETIRA © SOBRA DOS VALORES!G)! 36 DT13:=(DT3-DT130/INT#100; // SUB PARA RETIRAR E MOVER A VIRGUI ou 59, RESTOSHIMO2:=ModRea(QINT SHIMO2.REAL#1.00%: 62, 002:=LREAL_TO_INT(QINT_SHIMO2-RESTOSHIMO2) (61), SUB2:=SUB1-(OX2"SHIM|_DATA2}: // ACHO O RESTANTE DO GAP a 63, ELSE 4, 2002:=INT#O: 65, RESTOSHIMO2:=RESTOSHIMOI: UB: 69) Ul4:=(SHIMLUAIASTINIFIOU). // MULITP/ MOVE A UNIDADE 1! 70, DT140;=ModRea(DT4.REAL#1.00); // RETIRA © SOBRA DOS VALORESHG!!! 1) DT 4i=(OT4 DTH4OVINT#100; // SUB PARA RETIRAR E MOVER A VIRGULA It om n 73) QINT.SHIMO3:=(SUB2/DT14) // TERCEIRA COMPARAGAO DE SHIMO! 74) RESTOSHIMO3:=ModReal{QINT_SHIMO3,REAL# 1.00); 75), XAISEELKEAL_|O_INI(GINI_SHIMUS-RESIUSHIMUST 178, SUB3:=SUB2-(003*SHIMI_DATA3); // ACHO O RESTANTE DO GAP 7a, ELSE 79) X00G:=INT#O: 80, RESTOSHIMO3:=RESTOSHIMO2: 183 SIF (SUB3> =SHIMLDATAS)THEN (04) DTS:=(SHIML_DATAMSINTAI00), // MULTI P/ MOVE A UNIDADE I1@t 85) DT150:=ModRealDTS.REAL#1.00): // RETIRA O SOBRA DOS VALORES!!'@!!! 186, DT1S:=(DTS-DT1SO/INT#100; // SUB PARA RETIRAR E MOVER A VIRGULA It! om a 88 QINT_SttIMO4:=(SUB3/DTI5}; // QUARDA COMPARAGAO DE SHIMO! 189, RESTOSHIMO4:=ModReal(QINT_SHIMO4,REAL# 1.00); (00) 300UAe=LREAL_TO_INT(CINT_SHIMOA.RESTOSHIMOM) ‘91, SUB4:=SUB3-0004*SHIMI_DATAA): // ACHO O RESTANTE DO GAP 98 =IF (SUB4> =SHIM|_DATAS)THEN 99) DT6:=(SHIMLDATAS*INT#100)__// MULTI P/ MOVE A UNIDADE !!@! 199, DT160:=ModRea(DT6.REAL#1.00): // RETIRA O SOBRA DOS VALORE: ter, DT16:=(DT6-DI160//INT#100; // SUB PARA RETIRAR E MOVER A VIRGULA I! om s02 tea) CINT.SHIMOS:=(GURA/TT16 // QUINTA COMPARACRO NF SHIMAO! 101, RESTOSHIMOS:=ModReal{QINT SHIMOS REAL# 1.00), 3e/i9h Program) SERVOProgram) SERVO TF 1 [bx reutfn vaa.canen cue Wale CA 2 was ‘abun eur ows or wow aw ln ier ak 3 = aoe wo wage mrokthame makati cormeSarane -RECIPE_DATAS int NATO. A en roa 40/191Programacio final new_Controller_0 SERVO Program) SERVO alistProgramacio final new _Controller_0 SERVO Program) SERVO. 1 wos t T svete evo wes jd vse = wns ee vy woe win 1 1 t 1/¢ bute ba ree fase SE pL nee es T eseate mL wn ar fata trop mie erro SNOEMO { in WV AABIUTA.SERVO MOVEERRO HM thet me INT#AO Ind T BTV_SERVO_AHOME ory Ss 1/4 i" sore sn00 nee lit wate0-fue se0,0% Move rere fans PP aL nore 7 eve enh sro}. a2sishProgramacio final new_Controller_0 SERVO 3 ory — 7 SoLav Mesa sor NUXPOSS maT 1 t 1 tz ‘ADUNT ‘ nur Sree? eN a MOVE EERO HN—int Tore nt ‘is}—Tore M1 7 ore! 4 ty size Se Active z arses A rimettne Commanaaneen— ror 7 ron 14 WARN A HOME mio SENSOR SERVO 1 1 z Mov Aone Program) SERVO te04sfor 43/191Programacio final new_Controller_0 SERVO 6 6 sexs. sv0 ven wea aay tt -——] b-——iir— ontsehor abot wn vars we za 1 a; itt che pte Terave Maes ———— fe toraue Mt 4a/i918 Program) SERVO Te} 45/191Programacio final 9 new_Controller_0 SERVO Program) SERVO sor = mes SERVO E MOVEERRO_HM—hnt = sais en 41} vvnwbot AKIN 49/191ove e000.01_ nt at Ter C__J nee nec senvoz 47/191 Program) SERVOProgramacio final new_Controller_0 SERVO i 48/191 T len [i] Torque MIActFos—int our seRvOr 6}-—+/t ‘Tow SERVO te ou Mont at reader Tee. 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VOLTANAOMON. ind nexmomete | 2 eN 3 “orm Mi tetBoeint Tome Me Tn fit anit voLTANAOMON.Mina Puc_ronque Minna 3 ls I ran acior fe ee or yeuouon-fe soci nc vain a sot tele eb a te . ver eb er * a |. ; selon ab 30/191Programacio final new_Controller_0 SERVO Program) SERVO WL Nos a0 7 1/t S austere waar exo we Ore win | susishProgramacio final 24 MONITORANENTO De TORQUE! wre new_Controller_0 SERVO wate Teas pt F (NT. VOLTANADMON. = a 1} ob z ‘AUT_STERTT ry TON if ab AUT STEN wafer at z en lew Torque ML.ActP0%—In\ Torque Mic Ta-fiet “Torre Mt tetBoe Tore Met Tint Hse} anit voLTANAOMON.—fn Puc. ronaue axfina 7 lex rorque.sar accra vorguewraccing—finr (NT. VOLTANAOMON.—in2 PAC TORQUE MAX—in2 rete mont TON 7 In 5st b oH mae TON In te5efor L Tem a8 TON 32/191 a7 Program) SERVOProgram) SERVO ree rec SiR0 { a 7B me a REBUN z ms ss S-MANUAL ec swo WV tice iS on =}-———» o reefer of 7 3 Jen +5)- Tore N1ACre-fat wane ne weston fas 26 MOVE VALOR DE VELOCIDADE PARA 10G EM AUTOMATICO ‘wor wee t+ ——- we 7 [tx veo wach o4f-wuo 16 vac HO 7 wor we wee -—1 4 $i ik Taste wt te 7 veo tha2fn o4| none uo ANTNORASO 33/191Programagio final new_Controller_0 SERVO Program) SERVO. wi ses |__+ ia woh om — desea canon a STEATIN [aki ai oi vo vos ss ws 1}-4/h 4/+ 4/+ 41/+ wallles nabs ay ror wo} Mater ‘REAL#4000—lin Out} VELO JOG or be ped ee ale Todt wo ws m9 Fa adil voor swan 2 es sos soy a | altar wed akene —aadisbie 14“) -——$ ____ —— AUKINZ 3 it abs e} | wes son _ BV esis ee no Se ca oe __rervetraie an ‘meron pega commatona ‘0 00 fcc mel wea lcitor ewok nen sa/i9hProgramacio final new_Controller_0 SERVO Program) SERVO 3 sana se = Torque N1ActPos—int Trost we lee z we auczean it S wh Fr are anges matt reveenove nmyoce oe pean zt ~S AUK POs 35/191Fr new_Controller_0 SERVO Program) SERVO. 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