DZRN Homing Instruction
The DZRN command is used for homing. For example, "DZRN K20000 K3000 X12 Y0" means that the motor starts moving at a pulse frequency of 20,000 Hz. When the rising edge of X12 is detected, the frequency drops to 3,000 Hz. Then, when the falling edge of X12 is detected again, the pulse output stops. Y0 is the output signal for the pulses. This command is essential for positioning the motor back to its origin accurately.
DDRVI Relative Positioning Instruction
The DDRVI instruction allows the motor to move a specific number of pulses relative to its current position. For instance, "DDRVI K10000 K1000 Y0 Y2" means that when X2 is activated, the motor will send 10,000 pulses through Y0 at a frequency of 1 kHz. The direction is controlled by Y2, which indicates whether the motor moves forward or backward. This is useful for precise movement in applications where absolute positioning is not required.
Servo motors are commonly used in position control mode. The wiring might look complicated at first, but it's straightforward once you understand the basics. The CN1 port is the control interface, and CN2 is the encoder feedback. Typically, only four lines from CN1 are needed: 32 and 33 for pulse inputs, and 34 and 35 for direction. For example, connecting 32 to +24V and 33 to ground creates a basic pulse input. Similarly, 34 can be connected to +24V and 35 to ground for direction control.
To simplify the setup, some users connect 32 and 34 together to share the same power supply. However, the servo motor is driven purely by pulses, so the system must continuously send them to make the motor move. One pulse results in a small rotation, typically 360/10,000 degrees. To achieve continuous motion, a steady stream of pulses is required—more pulses mean faster rotation. This is where PLCs come into play, especially in industrial automation setups.
Mitsubishi PLCs like the FX1S and FX1N provide a 24V DC power supply. The output terminals, such as Y0 and Y2, are connected to COM0 and COM2 respectively. When Y0 is active, it connects to COM0, allowing the pulse signal to pass through. Similarly, Y2 controls the direction. By using the ALT instruction, you can toggle Y0 on and off rapidly, generating a pulse train. This method is simple but effective for basic motion control.
While the ALT instruction is easy to use, more advanced commands like DRVA and DRVI offer greater flexibility. DDRVA is an absolute position drive command, where S1 specifies the number of pulses relative to the origin (ranging from -999,999 to +999,999), and S2 sets the speed. D1 and D2 define the pulse and direction outputs, usually Y0 and Y2. DDRVI works similarly but uses the current position as the starting point. These commands eliminate the need for manual direction control, as the PLC automatically handles it based on the sign of S1.
Additionally, the PLC keeps track of the pulses sent using special registers like D8140 and D8141. For example, if you use "DD RVA K1000 K500 Y0 Y2," D8140 stores the total number of pulses, while D8141 holds the high-order bits. This helps in monitoring and adjusting the motor’s position in real time. It’s important to note that the FX1S supports high-speed outputs only on Y0 and Y1, so Y2 and Y3 are often used for direction signals. Pairing Y0 with Y2 and Y1 with Y3 allows efficient control of multiple servos.
Overall, understanding these commands and their proper configuration is key to successful servo motor control. Whether you're using simple pulse generation or advanced positioning instructions, the right setup ensures accurate and reliable performance in your automation system.
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