Example

Registering the Special Program

Step 1: In the Project Window, right-click Program and left-click New Program.

Step 2: In the New Program window, left-click Positioning for PLC-ES.

• Optionally, for organization, under Program Name, the name of the program and ID can be changed.

Step 3: Left-click OK.

Configuring the Positioning Program

Step 4: Under Start Address, select the data register section to use.

• IMPORTANT: The positioning program can reserve 20 WORDs, 10 for the X-Axis, 10 for the Y-Axis, for operation data and 30 WORDs for positioning parameters.
  • In this example, D0 ~ D19 are reserved for operation data and D0 ~ D30 are reserved for positioning parameters.
    • Please refer to the positioning operation data or positioning parameters pages for more information.

Step 5: To allow positioning to function, left-click the Output Pulse Type N/A Axis and select High Active or Low Active.

• This example uses High Active for the Output Pulse Type.

Step 6: Left-click X Axis Parameter or Y Axis Parameter to configure the X or Y axis positioning parameters.

Step 7: Left-click X Axis Position Data or Y Axis Position Data to configure the positioning data for the X or Y axis.

Step 8: Left-click Save or Online Modify (if the PLC-ES is connected) to save any changes made to the positioning program.

Step 9: To monitor the positioning operation, left-click Monitor.

Monitoring the Positioning Program

Step 10: To monitor the X or Y axis, select the axis in the top-left corner.

Step 11: To enable positioning for the X or Y axis, left-click ENABLE.

• The ENABLE box will change to DISABLE.
  • This means the current axis is enabled for positioning.

Step 12: To JOG forward, backward, or stop positioning, left-click JOGForward(F), JOGBackward(B), or Dec Stop(D).

• Please refer to positioning parameters for more information.

Step 13: To initiate an emergency stop, left-click EMG Stop(S).

• This will create an error.
  • The previous positioning operations are now unavailable.
  • Left-click Error Reset(R) to reset the error and resume the positioning operation.

• The Current Position shows the current pulse output from the positioning operation.
• If the Current Speed is greater than 0 pulses per second, then the positioning operation is active.

Scan Program

Step 14: Create a new scan program.

• This example uses the operation data bits 0, 3, and 4 for the X-axis (offset 0).

Step 15: Left-click the open contact, M0.3, and type shift + enter.

• This will turn the contact, M0.3, ON.
  • The positioning operation will JOG forward.

• The Current Speed is 10,000.
  • The Current Position moves forward 10,000 pulses per second.

• The Forward/Backward status displays as Forward.

Step 16: Left-click the open contact, M0.1, and type shift + enter.

• This will turn the contact, M0.1, ON.
  • The positioning operation will decelerate to a stop.

• The Current Speed is 0.
  • The positioning operation has decelerated to a stop.
    • The emergency stop option will halt to a stop immediately and produce an error.

Step 17: Left-click the open contact, M0.4, and type shift + enter.

• This will turn the contact, M0.4, ON.
  • The positioning operation will JOG backward.

• The Current Speed is 10,000.
  • The Current Position moves backwards 10,000 pulses per second.

• The Forward/Backward status displays as Backward.