01. Preliminary Preparations
Software: Sysctrl Studio V2.4.0.1705 (PLC programming software)
Hardware: M-series controller (taking M511S as an example)
Servo (taking HN-Y7FA040A-S as an example)
02. Wiring Configuration
This tutorial uses the M controller HCM511S-32MT4-D and the servo HN-Y7FA040A-S. The pulse wiring and encoder wiring are shown in the following diagram:
03. Sysctrl Studio Project Basic Configuration
Basic settings
Pulse axis configuration
Encoder shaft configuration
04. Interruption Fixed-Length Instruction
MC_MoveFeed (Interrupt Fixed-Length Instruction)
① Function Description
After the command is activated, it controls the specified axis to perform displacement or speed movement. After the axis moves beyond the specified relative position, the axis speed switches from high speed to low speed to search for an external interrupt signal. After detecting the external interrupt input, the actual position of the axis is used as a reference point based on the interrupt input signal, and then the axis moves a specified relative distance.
The MC_MoveFeed instruction is widely used in scenarios requiring precise interrupt control. For example, in packaging and labeling equipment, an external signal triggers an axis to stop at a specific position or perform a relative motion, thereby achieving high-precision positioning control.
②Parameter Description
③Configuration of MC_MoveFeed command parameters
④ Test the execution of the MC_MoveFeed command
【Key Parameter Configuration】
When Mode is set to 0: After the external interrupt input locks the axis position, it moves a specified relative distance.
TriggerMode set to 0: Lock encoder shaft position via the rising edge of the controller body input point.
Setting TriggerInput to 2: Specifies the controller body input point IX0.2 to lock the encoder shaft position.
[Command execution effect]
a. The MC_MoveFeed0_Exe variable is triggered, and the instructions begin to run. Axis 1 begins to run at the set Velocity of 100.
b. After running to the set TouchPosition position 200, the axis speed automatically switches to the set TouchVelocity speed 10 for low-speed operation.
c. When an external interrupt signal is detected while the axis is running at a low speed of TouchVelocity, the instruction will automatically latch the position of the encoder axis (EncoderAxis) and save it to the TriggerPosition output variable of the instruction.
d. Finally, based on the locked encoder axis position TriggerPosition, axis 1 continues to move by the relative distance (FeedDistance) set by the command, and the command execution ends.
[Waveform graph of running effect]
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