LadderWorks PLC Reference Manual - Soft...

LadderWorks PLC

Reference Manual

Revision 2.01

© 2012 Soft Servo Systems, Inc.

LADDERWORKS PLC REFERENCE MANUAL

Warning / Important Notice

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i

Warning

The product described herein has the potential – through misuse, inattention, or lack of understanding – to create

conditions that could result in personal injury, damage to equipment, or damage to the product(s) described herein.

Machinery in motion and high-power, high-current servo drives can be dangerous; potentially hazardous situations

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Warning / Important Notice

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ii

Important Notice

The information contained in this manual is intended to be used only for the purposes agreed upon in the related

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All rights reserved. Any violations of contractual agreements pertaining to the materials herein will be prosecuted to

the full extent of the law.


Contents

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iii

Table of Contents

Warning ............................................................................................................................................................................................. i Important Notice ............................................................................................................................................................................. ii Table of Contents ........................................................................................................................................................................... iii List of Tables .................................................................................................................................................................................. iv List of Figures ................................................................................................................................................................................. v Introduction .................................................................................................................................................................................... vi Chapter 1: Inside the LadderWorks PLC Engine (How the LadderWorks PLC Engine Operates) ....................................... 1-1

1.1 The Sequential Processing of the Sequence Program ..................................................................................... 1-1 1.2 Repetitive Sampling ........................................................................................................................................ 1-2 1.3 I/O Signals ...................................................................................................................................................... 1-2

1.3.1 Input ........................................................................................................................................................ 1-2 1.3.2 Output ..................................................................................................................................................... 1-2

1.4 PLC Code Execution....................................................................................................................................... 1-3 Chapter 2: Memory Addresses ................................................................................................................................................... 2-1

2.1 What Are Memory Addresses? ....................................................................................................................... 2-1 2.2 Addresses Related to the PLC ......................................................................................................................... 2-1 2.3 Address Specifications .................................................................................................................................... 2-2 2.4 PLC and Machine Tool Addresses (PLC ↔ MT) ........................................................................................... 2-3 2.5 LadderWorks PLC Engine and ServoWorks CNC Engine/SMP Motion Engine Addresses (PLC ↔ NC) ... 2-3 2.6 Internal Relay Addresses (R) .......................................................................................................................... 2-4 2.7 Counter Addresses (C) .................................................................................................................................... 2-5 2.8 Keep Relay Addresses (K) .............................................................................................................................. 2-6 2.9 Data Addresses (D) ......................................................................................................................................... 2-6 2.10 Timer Addresses (T) ..................................................................................................................................... 2-7 2.11 Alarm Relay Addresses (A) .......................................................................................................................... 2-7

Chapter 3: Static Memory ............................................................................................................................................................ 3-1 3.1 Timer, Counter, Keep Relay, Data Table ........................................................................................................ 3-1

3.1.1 Overview of Static Memory .................................................................................................................... 3-1 3.1.2 Timer ....................................................................................................................................................... 3-1 3.1.3 Counter (Addresses C0~C79) ................................................................................................................. 3-1 3.1.4 Keep Relay (Addresses K0~K99) ........................................................................................................... 3-2 3.1.5 Data Addresses (Addresses D0~D1999) ................................................................................................. 3-2

3.2 Reading and Writing Static Memory .............................................................................................................. 3-2 3.3 PLC Data Table(s) .......................................................................................................................................... 3-3

Chapter 4: LadderWorks PLC Axis Control ............................................................................................................................... 4-1 4.1 PLC Axis Control Function ............................................................................................................................ 4-1 4.2 PLC Axis Signals ............................................................................................................................................ 4-4

4.2.1 PLC Axis Rapid Override Selection Signals: G_ROV1E, G_ROV2E ................................................... 4-4 4.2.2 PLC Axis Control Command Code Signals: G_CDnX0, G_CDnX7 ...................................................... 4-5 4.2.3 PLC Axis Feedrate Control Signals: G_FDnX0, G_FDnXF .................................................................. 4-5 4.2.4 PLC Axis Control Data Signals: G_DnX00, G_DnX31 ......................................................................... 4-5 4.2.5 PLC Axis Control Command Read-In Strobe Signal: G_PMCAn .......................................................... 4-6 4.2.6 PLC Axis Control Command Read-In Completed Signal: F_CNCAn ................................................... 4-6 4.2.7 PLC Axis Buffer Full Signal: F_BUFn ................................................................................................... 4-6 4.2.8 PLC Axis Reset Signal: G_RTSn ............................................................................................................ 4-6 4.2.9 PLC Axis Temporary Stop Signal: G_STPn ........................................................................................... 4-6 4.2.10 PLC Axis Block Stop Signal: G_SBKn ................................................................................................ 4-7 4.2.11 PLC Axis Block Stop Prohibited Signal: G_MSBKn ........................................................................... 4-7 4.2.12 PLC Axis Distribution End Signal: F_DENn ........................................................................................ 4-7 4.2.13 PLC Axis Counter Value Signals: F_CnP00, F_CnP31 ........................................................................ 4-7 4.2.14 PLC Axis Command Skip Signal: G_CSKPn ....................................................................................... 4-8 4.2.15 PLC Axis Encoder Counter Clear Signal: G_CTCLn – NOT AVAILABLE YET .............................. 4-8 4.2.16 PLC Axis Feedrate Override Signals: G_OVnX0, G_OVnX7 ............................................................. 4-8


Contents

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iv

4.3 PLC Axes Timing Chart ................................................................................................................................. 4-9 4.4 Example Code for PLC Axis Operation........................................................................................................ 4-10

Chapter 5: MF/DEN Timing .......................................................................................................................................................... 5-1 5.1 Explanation of MF and DEN Signals Considering Smoothing Mode ............................................................ 5-1 5.2 Examples of MF/DEN Timing ........................................................................................................................ 5-2

5.2.1 Example 1: When G and M Are In Different Blocks .............................................................................. 5-2 5.2.2 Example 2: When G and M Are In The Same Block (Parameter G and M Code Order: MG)............ 5-2 5.2.3 Example 3: When G and M Are In the Same Block (Parameter G and M Code Order: Same Time) ..... 5-3 5.2.4 Example 4: When G and M Are In the Same Block (Parameter G and M Code Order: GM) ............. 5-3

5.3 History of MF/DEN Specification .................................................................................................................. 5-3 Chapter 6: Manual Absolute Mode ............................................................................................................................................. 6-1

6.1 Manual Absolute On/Off ................................................................................................................................. 6-1 6.2 Machine Path with Absolute and Incremental Commands ............................................................................. 6-2

6.2.1 The Case When Manual Absolute Is OFF, ABSN (G06.2) = 1 ............................................................... 6-2 6.2.2 The Case When Manual Absolute Is ON, ABSN(G06.2) = 0.................................................................. 6-3

6.3 Input/Output Signals ....................................................................................................................................... 6-4 6.3.1 Manual Absolute Signal ABSM (G06.2) ................................................................................................. 6-4 6.3.2 Manual Absolute Confirmation Signal MABSM (F04.2) ....................................................................... 6-4 6.3.3 Relationship of F04.2 to G06.2 ............................................................................................................... 6-4

6.4 Examples ......................................................................................................................................................... 6-5 6.4.1 Example 1: Manual Operation After the End of a Block ........................................................................ 6-5 6.4.2 Example 2: Manual Operation in the Middle of a Block ........................................................................ 6-6

Chapter 7: PLC Interrupt ............................................................................................................................................................. 7-1 7.1 PLC Interrupt .................................................................................................................................................. 7-1 7.2 Input/Output Signals ....................................................................................................................................... 7-1

7.2.1 PLC Interrupt Axis Selection Signals: PLCIA-PLCID (G041.4-G041.7) .............................................. 7-1 7.2.2 PLC Interrupt Offset Signals: PLCI00-PLCI31 (G192.0-G195.7) ......................................................... 7-1

7.3 Applying an Offset Using the PLC Interrupt .................................................................................................. 7-2 7.4 Examples ......................................................................................................................................................... 7-2

7.4.1 Example 1: Gap Control .......................................................................................................................... 7-2 Chapter 8: LadderWorks PLC Architecture ............................................................................................................................... 8-1 Index.................................................................................................................................................................................................. I

List of Tables

Table 2-1: Signal Types ............................................................................................................................................. 2-2 Table 4-1: PLC Axis Signals ..................................................................................................................................... 4-2 Table 4-2: Rapid Override Selection Signal .............................................................................................................. 4-4 Table 4-3: Axis Control Command Codes................................................................................................................. 4-5 Table 7-1: PLC G Address Map for PLC Interrupt Axis Selection ........................................................................... 7-1


Contents

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v

List of Figures

Figure 1-1: First Example of a Circuit ....................................................................................................................... 1-1 Figure 1-2: Second Example of a Circuit .................................................................................................................. 1-1 Figure 1-3: Execution of Sequence Program by the LadderWorks PLC Engine ....................................................... 1-3 Figure 2-1: Addresses Related to the LadderWorks PLC Engine .............................................................................. 2-1 Figure 2-2: Internal Relay Usable Region ................................................................................................................. 2-4 Figure 2-3: Counter Addresses .................................................................................................................................. 2-5 Figure 2-4: Keep Relay and Static Memory Control Addresses ................................................................................ 2-6 Figure 2-5: Data Table Addresses ............................................................................................................................. 2-6 Figure 2-6: Timer Addresses ..................................................................................................................................... 2-7 Figure 2-7: Alarm Relay Addresses........................................................................................................................... 2-7 Figure 3-1: Example of Counter Addresses ............................................................................................................... 3-2 Figure 4-1: PLC Axis Signal Format ......................................................................................................................... 4-3 Figure 4-2: PLC Axis Timing Chart for Command Operations ................................................................................ 4-9 Figure 4-3: Axis Type Settings in Parameter Window of SMP Console Application ............................................. 4-10 Figure 6-1: Manual Absolute ON, ABSN(G06.2) = 0. [The coordinates change with manual movement.] ............ 6-1 Figure 6-2: Manual Absolute OFF, ABSN(G06.2) = 1. [The coordinates remain unchanged.] ............................... 6-1 Figure 6-3: Manual Absolute OFF, ABSN(G06.2) = 1. ............................................................................................ 6-2 Figure 6-4: Manual Absolute ON, ABSN(G06.2) = 0. .............................................................................................. 6-3 Figure 6-5: Manual Absolute Mode Example #1 ...................................................................................................... 6-5 Figure 6-6: Manual Absolute Mode Example #2 ...................................................................................................... 6-6 Figure 8-1: Architecture of the LadderWorks PLC ................................................................................................... 8-2


Introduction

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vi

Introduction

This manual provides details on the operation of the LadderWorks PLC Engine, memory addresses and static

memory used by LadderWorks PLC, and PLC axis control functions. It should be used as a supplement to the

LadderWorks PLC User’s Manual.


Chapter 1: Inside the LadderWorks PLC Engine (How the LadderWorks PLC Engine Operates)

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1-1


The execution of a PLC sequence program by the LadderWorks PLC Engine is different from a usual relay circuit

because it is simulated by software. Therefore, in designing a PLC sequence program, it is important that you

understand the sequence of execution.

1.1 The Sequential Processing of the Sequence Program

In a usual relay sequence circuit, all relays can work simultaneously. For example, in Figure 1-1, when the relay A

is turned on (and both B and C are turned off), both relays D and E work at the exact same time.

With the LadderWorks PLC Engine, each relay in a circuit works sequentially. For example in Figure 1-1, when

relay A is on (and both B and C are turned off), first relay D, and then relay E is activated.

Figure 1-1: First Example of a Circuit

In other words, the sequence in a PLC program follows the sequence drawn on the ladder diagram (programming

order). Though the sequence’s execution is done very rapidly, it may affect the order of execution. Therefore, in a

ladder diagram as in Figure 1-2, you can see a difference in execution between the PLC sequence and the relay

circuit sequence.

Figure 1-2: Second Example of a Circuit

In the relay circuit sequence: In Figure 1-2, both circuits (A) and (B) work simultaneously. When A (P.B) is turned

on, current runs through coils B and C, and B and C are turned on at the same time. After C is turned on (after the

relay execution), B turns off the circuit.

E

D

B

C

A

A

NOTE: “P.B” refers to a format of “position.bit” C

B

C A (P.B)

Circuit (A)

A

A (P.B)

Circuit (B)

B

C

C A



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1-2

In the PLC sequence: In circuit (A), as in the relay circuit, when A (P.B) is turned on, B and C are both turned on,

and after a certain period of time (1 cycle of PLC sequence), B turns the circuit off. However, in circuit (B), when A

(P.B) is turned on, C is turned on, but B is not.

1.2 Repetitive Sampling

The LadderWorks PLC Engine samples values at discrete intervals (5 msec by default, except for ServoWorks

S-100T, which is 8 msec by default), so the sequence is run until the end of the ladder diagram; the sequence is then

executed again from the beginning of the ladder diagram. The time it takes to complete the execution of a program

from beginning to end (1 cycle) is called the sequence program’s execution time. The execution time is determined

by the control level (number of steps), and the size of the Number 1 level sequence, defined later. The faster the

execution time, the more responsive the program gets.

1.3 I/O Signals

There are two kinds of input signals to the LadderWorks PLC Engine: input signals from the ServoWorks CNC

Engine/SMP Motion Engine (i.e. signals sent as a result of M functions and T functions) and input signals from the

machine (i.e. cycle start and feed/hold signals). There are also two kinds of output signals from the LadderWorks

PLC Engine: output signals to the ServoWorks CNC Engine/SMP Motion Engine (i.e. cycle start, feed/hold) and

output commands to the machine (i.e. talet rotation, spindle suspension). The input signals are fed into the input

memory in the LadderWorks PLC Engine, and the output signals are the output of the LadderWorks PLC Engine.

1.3.1 Input

1) Input Memory from the ServoWorks CNC Engine/SMP Motion Engine: The input signals from the

ServoWorks CNC Engine/SMP Motion Engine to the LadderWorks PLC Engine originate from the

numerical control (NC) input memory specified by the ServoWorks CNC Engine/SMP Motion Engine, and

are usually transferred to the LadderWorks PLC Engine in 5 ms periods (or 8 ms periods for ServoWorks

S-100T).

2) Input Signals from the Machine: These signals are transferred from the input circuit to the input signal

memory.

3) Input Signal Memory: The input signal memory holds the signals transferred from the machine to the

LadderWorks PLC Engine in 8 ms periods.

1.3.2 Output

1) Output Memory to the ServoWorks CNC Engine/SMP Motion Engine: The output signal from the

LadderWorks PLC Engine to the ServoWorks CNC Engine/SMP Motion Engine is sent to the NC output

memory specified by the ServoWorks CNC Engine/SMP Motion Engine. The LadderWorks PLC Engine

sends the data in 5 ms periods (or 8 ms periods for ServoWorks S-100T).

2) Output Signals to the Machine: The output signals to the machines are transferred from the PLC’s output

signal memory to the output circuit.

3) Output Signal Memory: Output signal memory is the memory specified by the PLC sequence program.

The signals to the output signal memory are sent to the machine in 5 ms periods by the LadderWorks PLC

Engine (or 8 ms periods for ServoWorks S-100T).



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1-3

1.4 PLC Code Execution

PLC code is executed one command at a time. For example, the instruction sequence “RD X0.0, AND R10.1, WRT

Y0.0” does the following:

1) On the first command (RD X0.0), the input signal at address X0.0 is inserted into the computation register.

2) On the next command (AND R10.1), it takes the internal relay value at the address R10.1, computes the

logical AND with the current computational register value, and puts it back into the computational register.

3) On the last command (WRT Y0.0), it stores the value in the computational register to the output signal at

address Y0.0.

Once you write the PLC code for a sequence program, you can use the LadderWorks PLC Control Console

application to convert it into machine language for the computer.

Figure 1-3: Execution of Sequence Program by the LadderWorks PLC Engine

Internal Relay (RAM)

Output Pathway

Input Pathway

Controls

PLC Engine (Programmable Logic Controller)

Sequence Program Memory

CPU

RD X0.0 AND R10.1 OR X6.1 AND.NOT R20.3 WRT Y0.0 · · ·

· .

R10.0 R20.3

X0.0 X6.1

Y0.0


Chapter 2: Memory Addresses

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2-1


2.1 What Are Memory Addresses?

An address is the number that represents the location in memory of where I/O signals to and from the machine, I/O

signals to and from the ServoWorks CNC Engine/SMP Motion Engine, internal relays, counters, keep relays

(parameters for the PLC sequence program), and data cables reside. An address consists of an address number (each

one contains eight signals) and a bit number (0-7) to specify which of the eight. The symbol table that shows the

signal name and the respective address is created using the PLC Control Console Application.

2.2 Addresses Related to the PLC

The addresses used by the PLC’s sequence program can be divided roughly into 4 different types, as shown in the

following figure:

Figure 2-1: Addresses Related to the LadderWorks PLC Engine

Machine/Machine Tool (MT) Related Signals (X and Y addresses)

Signals Related to the ServoWorks CNC Engine or

SMP Motion Engine (NC) (F and G addresses)

LadderWorks PLC Engine

Internal Relay (R and A

addresses)

Static Memory: (1) Counter (C addresses) (2) Keep Relay (K addresses) (3) Data Table (D addresses) (4) Variable Timer (T addresses)

User Interface

Application

F

G

Y X



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2-2

2.3 Address Specifications

An address consists of an address and a bit number in the following format:

The first character of the address is always a letter of the alphabet representing the type of signal as shown in the

following table. When performing byte-level addressing within a function command, use X220. The “·” and the bit

number is not necessary in this case.

SIGNAL LETTER

TYPE OF SIGNAL STORED IN:

X Input signals from the machine to the

LadderWorks PLC Engine (MT → PLC) RAM

Y Output signals (commands) from the

LadderWorks PLC Engine to the machine (PLC → MT)

RAM

F Input signals from the ServoWorks CNC

Engine/SMP Motion Engine to the LadderWorks PLC Engine (NC→ PLC)

RAM

G Output signals from the LadderWorks PLC

Engine to the ServoWorks CNC Engine/SMP Motion Engine (PLC → NC)

RAM

R Internal Relay RAM

C Counter static memory

K Keep Relay static memory

D Data Table static memory

T Variable Timer static memory

A Alarm RAM

Table 2-1: Signal Types

Bit Number (0~7)

Address Number (a capital letter and a number under four digits)

X220. 2



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2-3

2.4 PLC and Machine Tool Addresses (PLC ↔ MT)

Addresses related to the machine are as follows:

a) LadderWorks PLC Engine ←MT (machine tool):

Address Range: X0~X99

b) LadderWorks PLC Engine →MT (machine tool):

Address Range: Y0~Y99

Within the byte ranges above, a maximum of 800/800 I/O signals can be declared, though they must be allocated in

one-byte increments (space for 8 signals).

For the addresses of specific signals, refer to the LadderWorks PLC I/O Mapping for SMP Products manual, the

LadderWorks PLC I/O Mapping for ServoWorks MC-Quad and the ServoWorks S-100M Series manual or the

LadderWorks PLC I/O Mapping for ServoWorks S-100T manual, which list the name and address of each specific

signal included in the ServoWorks CNC or SMP system. Input signals from the ServoWorks CNC Engine or the

SMP Motion Engine have fixed addresses.

2.5 LadderWorks PLC Engine and ServoWorks CNC Engine/SMP Motion Engine Addresses (PLC ↔ NC)

Addresses related to the ServoWorks CNC Engine or the SMP Motion Engine are as follows:

a) LadderWorks PLC Engine ←ServoWorks CNC Engine/SMP Motion Engine Signals:

Address Range: F0~F399

b) LadderWorks PLC Engine →ServoWorks CNC Engine/SMP Motion Engine Signals:

Address Range: G0~G399

For the addresses of specific signals, refer to the LadderWorks PLC I/O Mapping for SMP Products manual, the

LadderWorks PLC I/O Mapping for ServoWorks MC-Quad and the ServoWorks S-100M Series manual or the

LadderWorks PLC I/O Mapping for ServoWorks S-100T manual, which list the name and address of each specific

signal included in the LadderWorks system.



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2-4

2.6 Internal Relay Addresses (R)

The internal relay can use 1000 bytes, at addresses R0~R999 (see Figure 2-2). This region will be refreshed every

time the power is turned on.

The addresses R9000~R9099 can be used as input in a sequence program, but cannot be used as output because the

results of functional commands are stored in this address space.

Refer to the following figure:

Figure 2-2: Internal Relay Usable Region

7 6 5 4 3 2 1 0

Results of functional commands – can be used as input in a sequence program (100 bytes)

Internal Relay (1000 bytes)

R9099

R9000

R999

R3

R2

R1

R0

···· ···················

Address No.



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2-5

2.7 Counter Addresses (C)

Addresses C0~C79 (80 bytes of memory) are designated for the counters. The contents in this memory are not

erased when the power is off because this region holds static memory.

Counters do not physically exist. They are simulated counters and they can be programmed to count pulses.

Typically these counters can count up, down or both up and down.

Refer to the following figure:

Figure 2-3: Counter Addresses

7 6 5 4 3 2 1 0

C7

C6

C5

C4

C3

C2

C1

C0

Address No.

C79

C78

C77

C76

·································

················

Counter #1

Counter Register

Preset Value

Counter #2

Counter Register

Preset Value

Counter #20

Counter Register

Preset Value



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2-6

2.8 Keep Relay Addresses (K)

Addresses K0~K99 (100 bytes of memory) are used to store the keep relay data and the PLC parameters. The

contents in this memory are not erased when the power is turned off. This is also static memory. Refer to the

following figure:

Figure 2-4: Keep Relay and Static Memory Control Addresses

2.9 Data Addresses (D)

Certain data is stored in static memory, so the contents in this memory are not erased when the power is turned off.

The basic data table resides at addresses D0~D1999 (2000 bytes of memory). This memory can be used for

constants, or as temporary storage for math or data manipulation. Refer to the following figure:

Figure 2-5: Data Table Addresses

7 6 5 4 3 2 1 0

K99

K98

K97

K96

K2

K1

K0

··········

Address No.

7 6 5 4 3 2 1 0

D1999

D1998

Basic Data Table (2000 bytes)

D2

D1

D0

··········

Address No.



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2-7

2.10 Timer Addresses (T)

The variable timers used in TMR commands are allocated 400 bytes of static memory, at addresses T0~T399.

The addresses corresponding to each timer are shown in Figure 2-6. Since this region is static memory, the contents

are not erased when the power is turned off. Refer to the following figure:

Figure 2-6: Timer Addresses

2.11 Alarm Relay Addresses (A)

The alarm relay has 100 bytes of memory, at addresses A0~A99. Refer to the following figure:

Figure 2-7: Alarm Relay Addresses

7 6 5 4 3 2 1 0

T7

T6

T5

T4

T3

T2

T1

T0

Address No.

T399

T398

T397

T396

·····················································

··················

Timer #1

Timer #2

Timer #200

7 6 5 4 3 2 1 0

A99

A98

A97

A96

A2 A1

A0

·············

Address No.


Chapter 3: Static Memory

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3-1


3.1 Timer, Counter, Keep Relay, Data Table

3.1.1 Overview of Static Memory

Static memory is the memory where the information contained in that memory is not erased even when the power is

off. The LadderWorks PLC Engine uses static memory for the following:

Timer

Counter

Keep Relay

Data Table

3.1.2 Timer

Static memory is used to specify the time for the timer. You can display and set the timer with the PLC Control

Console application (the T Table). You can also read and write the time using the sequence program.

3.1.3 Counter (Addresses C0~C79)

Static memory is used to store the counter preset value and the increment value. You can display and set the counter

with the PLC Control Console application (the C Table). You can also read and write into the counter using the

sequence program. For details about the counter addresses, refer back to Section 2.7: Counter Addresses (C). The

format of the data is either 2 bytes of BCD or binary with the higher digits corresponding to the higher addresses.

The address can be in BCD or binary, as specified in the PLC system parameters.



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3-2

Example: When the PLC counter addresses are C0 and C1 and the preset value is 1578.

Figure 3-1: Example of Counter Addresses

In order to set the lower 2 digits of the value to the output of a command that outputs 1-byte data, then specify C0 as

the output address for that command.

3.1.4 Keep Relay (Addresses K0~K99)

Static memory holds parameters for the program such as the keep relay. You can read out or set the value with the

PLC Control Console application (the K Table). You can also read and write from within the sequence program.

The PLC control screen handles data as an 8-bit binary, so each digit holds the value of “0” or “1.”

3.1.5 Data Addresses (Addresses D0~D1999)

You can use a set of numeric data (a data table) for PLC sequence control. For details, refer to Section 3.3: PLC

Data Table.

3.2 Reading and Writing Static Memory

The sequence program can read and write any data in static memory (the computer’s registry). However, the

memory accessed by the sequence program is not the static memory, but an exact image of the static memory

(RAM). Therefore, data inside the image disappears when the power is off, but that data is copied again from static

memory when the power is turned on, restoring properly.

The system uses a write-through cache, where data modified in RAM by the sequence program is automatically

transferred to the static memory.

8 7

7

0

6

1

5

1

4

1

3

1

2

0

1

0

0

0 C0

BCD Format (1578)

5 1

7

0

6

0

5

0

4

1

3

0

2

1

1

0

0

1 C1

27

26

25

24

23

22

21

20

7

0

6

0

5

1

4

0

3

1

2

0

1

1

0

0 C0

Binary (1578)

215

214

213

212

211

210

29

28

7

0

6

0

5

0

4

0

3

0

2

1

1

1

0

0 C1



_____________________________________________________________________________________

3-3

Modifications of data in the image can be done at any time and at any frequency, and the data will be transferred to

static memory. Therefore, writing to static memory does not require any special handling. However, it does take

some time for the data to propagate, or be written, to static memory (about 512 ms).

3.3 PLC Data Table(s)

PLC sequential control sometimes requires a set of numeric data (henceforth called a data table). Being able to

write to and read from this data table is useful. For example, it can supply the tool number of each tool in the ATC

Magazine to the program. You can create a maximum of 50 data tables.

Within the memory constraints of a table, you can set the data table to 1-, 2-, or 4-byte length words encoded either

in binary or BCD. Therefore, you can easily make useful data structures that do not waste space.

You can access data in the data table through the static memory, which in turn is accessed by the PLC control

screen.

This data can also be accessed using functional commands in the program, such as Data Search (DSCHB) and Index

Modification Data Transfer (XMOVB).


Chapter 4: LadderWorks PLC Axis Control

_____________________________________________________________________________________

4-1


4.1 PLC Axis Control Function

The LadderWorks PLC system is equipped with generic I/O control along with PLC axis control capability. PLC

axis control is independent from NC axis control. It enables each independent axis command to be controlled

directly by PLC, through the sequence program ladder logic (as opposed to CNC axes, which are controlled with

part/motion programs). PLC functions related to PLC controlled axes are as follows:

1) Rapid movement for a specified distance

2) Movement at a specified cutting feedrate a specified distance

3) Rapid movement to an absolute position setting

4) Movement at a specified cutting feedrate to an absolute position setting

PLC axes are available for ServoWorks S-120M, ServoWorks S-140M, ServoWorks

S-200M and SMP products only.

NOTE



_____________________________________________________________________________________

4-2

#7 #6 #5 #4 #3 #2 #1 #0

G200 G_ROV2E G_ROV1E

G210 + N G_CTCLn G_MSBKn G_CSKPn G_PMCAn G_RTSn G_STPn G_SBKn

G211 + N G_OVnX7 G_OVnX6 G_OVnX5 G_OVnX4 G_OVnX3 G_OVnX2 G_OVnX1 G_OVnX0

G212 + N G_CDnX7 G_CDnX6 G_CDnX5 G_CDnX4 G_CDnX3 G_CDnX2 G_CDnX1 G_CDnX0

G213 + N G_FDnX7 G_FDnX6 G_FDnX5 G_FDnX4 G_FDnX3 G_FDnX2 G_FDnX1 G_FDnX0

G214 + N G_FDnXF G_FDnXE G_FDnXD G_FDnXC G_FDnXB G_FDnXA G_FDnX9 G_FDnX8

G215 + N G_DnX07 G_DnX06 G_DnX05 G_DnX04 G_DnX03 G_DnX02 G_DnX01 G_DnX00




F210 + M F_CNCAn F_DENn F_BUFn

F211 + M F_CnP07 F_CnP06 F_CnP05 F_CnP04 F_CnP03 F_CnP02 F_CnP01 F_CnP00




Table 4-1: PLC Axis Signals

NOTE: For a complete breakdown of PLC axes I/O mapping, see the LadderWorks PLC I/O Mapping for SMP

Products manual or the LadderWorks PLC I/O Mapping for ServoWorks MC-Quad and the ServoWorks S-100M

Series manual.



_____________________________________________________________________________________

4-3

Figure 4-1: PLC Axis Signal Format

N N is an offset value for axis control

1st Axis N = 0

2nd Axis N = 10

3rd

Axis N = 20

. .

. .

. .

16th

Axis N = 150

n is an axis control number

1st axis n = 0

2nd

axis n = 1

3rd

axis n = 2

. .

. .

. .

16th

axis n = 15

G_CDnX0

M M is an offset value for axis control

1st Axis M = 0

2nd Axis M = 5

3rd

Axis M = 10

. .

. .

. .

16th

Axis M = 75



_____________________________________________________________________________________

4-4

4.2 PLC Axis Signals

4.2.1 PLC Axis Rapid Override Selection Signals: G_ROV1E, G_ROV2E

Category

Input signal

Function

Overrides the PLC axis’ rapid feedrate.

Operation

The following table shows the override value from 2 code signals:

RAPID OVERRIDE SELECTION SIGNAL OVERRIDE VALUE

G_ROV2E G_ROV1E

0 0 100%

0 1 50%

1 0 25%

1 1 0%

Table 4-2: Rapid Override Selection Signal



_____________________________________________________________________________________

4-5

4.2.2 PLC Axis Control Command Code Signals: G_CDnX0, G_CDnX7

Category

Input signal

Function

You can command the motion of a PLC axis as shown in the following table:

AXIS CONTROL COMMAND CODE (HEXADECIMAL)

OPERATION

01h Rapidly moves to a specified absolute position

(Same performance as G90 G00)

02h Rapidly moves a specified distance (Same performance as G91 G00)

03h Moves at a specified cutting feedrate to a specified absolute

position (Same performance as G90 G01)

04h Moves at a specified cutting feedrate a specified distance

(Same performance as G91 G01)

Table 4-3: Axis Control Command Codes

The rapid feedrate is the rapid feedrate of an axis corresponding to an NC parameter. The cutting feed rate is

specified by the feedrate control signal (G_FDnX0, G_FDnX7).

4.2.3 PLC Axis Feedrate Control Signals: G_FDnX0, G_FDnXF

Category

Input signal

Function

In the case of movement at a specified cutting feedrate (03h, 04h), this signal sets the feedrate along with the axis

control command code signal. The unit for cutting feedrate is mm/min and an integer value is specified in binary

form with 16 bits.

4.2.4 PLC Axis Control Data Signals: G_DnX00, G_DnX31

Category

Input signal

Function

Specifies the distance or absolute coordinates in a binary format of 32 bits for the specified mode. The unit is the

machine unit (minimal resolution). See the Reference Manual for ServoWorks CNC Parameters and Functions for a

definition.



_____________________________________________________________________________________

4-6

4.2.5 PLC Axis Control Command Read-In Strobe Signal: G_PMCAn

Category

Input signal

Function

Sends a read-in axis control command from PLC to NC.

4.2.6 PLC Axis Control Command Read-In Completed Signal: F_CNCAn

Category

Output signal

Function

Signals that the read-in axis control command from PLC to NC has been completed.

4.2.7 PLC Axis Buffer Full Signal: F_BUFn

Category

Output signal

Function

Signals when the PLC control axis command is in the buffer on the NC side.

4.2.8 PLC Axis Reset Signal: G_RTSn

Category

Input signal

Function

Resets the axis that is controlled by PLC. If this signal is set to “1” in the middle of an axis movement, the axis will

slow down and stop. The buffered command will be cancelled.

Also, if this signal is set to “1”, everything will be invalid – further commands will be ignored.

4.2.9 PLC Axis Temporary Stop Signal: G_STPn

Category

Input signal

Function

If this signal is set to “1”, then the axis which is in movement will decelerate until it is stopped. If this signal is set

to “0”, movement resumes.



_____________________________________________________________________________________

4-7

4.2.10 PLC Axis Block Stop Signal: G_SBKn

Category

Input signal

Function

The G_SBKn signal is used to set an axis block stop. If this signal is set to “1”, then the axis which is in motion will

be suspended after the current block of movement is completed. If this signal is set to “0”, motion resumes, and the

next command in the buffer is executed.

NOTE: if the G_MSBKn signal is “1”, then the G_SBKn signal will be void – whether the G_SBKn signal is 0 or 1,

movement will be continuous, and block stop signals will be ignored.

4.2.11 PLC Axis Block Stop Prohibited Signal: G_MSBKn

Category

Input signal

Function

Normally, when the G_SBKn signal is set to “1”, the current axis in motion will be suspended after the movement is

completed. It will not move even if commanded to move. Movement will resume if this G_SBKn signal is set back

to “0”.

The G_MSBKn signal is used to void the effect of the G_SBKn signal.

If the G_MSBKn signal is “1”, then the G_SBKn signal will be void: whether the G_SBKn signal is 0 or 1,

movement will be continuous, and block stop signals will be ignored.

4.2.12 PLC Axis Distribution End Signal: F_DENn

Category

Output signal

Function

Signals that the command distribution has completed.

4.2.13 PLC Axis Counter Value Signals: F_CnP00, F_CnP31

Category

Output signal

Function

Sets PLC axis’ counter value in binary form with 32 bits.



_____________________________________________________________________________________

4-8

4.2.14 PLC Axis Command Skip Signal: G_CSKPn

Category

Input signal

Function

If this signal is set to “1”, an axis command for movement will be canceled and the next command will be executed.

4.2.15 PLC Axis Encoder Counter Clear Signal: G_CTCLn – NOT AVAILABLE YET

Category

Input signal

Function

If this signal is set to “1”, the encoder count will be reset to zero.

4.2.16 PLC Axis Feedrate Override Signals: G_OVnX0, G_OVnX7

Category

Input signal

Function

The feedrate override of each PLC axis when the PLC Axis Control Command Code signal is set to 03h or 04h

(cutting feedrate). The override value setting is the same as the NC control’s override value setting.

When specifying the PLC axis feedrate override, a “0” signifies that the weight is

added to the override percentage, and a “1” signifies that nothing is added to the

override percentage [which may be counterintuitive to some people.]

For a complete breakdown of signals and weights contributing to the PLC axis

feedrate override setting, see Table 4-13 in the LadderWorks PLC I/O Mapping for

ServoWorks MC-Quad and S-100M Series, or see Tables 4-12 and 4-13 in the

LadderWorks PLC I/O Mapping for SMP Products.

CAUTION !



_____________________________________________________________________________________

4-9

4.3 PLC Axes Timing Chart

The following figure shows an example timing chart for the command operation:

Figure 4-2: PLC Axis Timing Chart for Command Operations

Command Block (Input)

G_PMCAn (Input)

Input Buffer

F_BUFn (Output)

Executing Buffer

[1] [2] [3]

F_CNCAn (Output)

F_DENn (Output)

[1] [2] [3]

Key to Symbols

Indicates one signal triggering

another signal



_____________________________________________________________________________________

4-10

4.4 Example Code for PLC Axis Operation

NOTE: For the following sequence code to work, Axis 4 must be set to Axis Type = “PLC Axis” in the SMP

Console application or the ServoWorks MotionLite application (using the Parameters Window), as shown:

Figure 4-3: Axis Type Settings in Parameter Window of SMP Console Application

// PLC axis example

RD R0.0

OR.NOT R0.0

WRT G246.7 // Axis 4 position 32768 * machine unit

WRT.NOT G242.0

WRT G242.1

WRT.NOT G242.2 // Axis 4 control command 0x02 (G91 G00)

RD X16.7 // DC-155 #1 input bit 7

WRT G240.3 // Every time when this signal toggles on,

// axis 4 will move as G91 G00


Chapter 5: MF/DEN Timing

_____________________________________________________________________________________

5-1


5.1 Explanation of MF and DEN Signals Considering Smoothing Mode

Following is a timing chart detailing the timings of signals MF, DEN, MV1, and MFIN for the following code:

G90G01X50

G01X100

M20

G01X150

DEN is set high after the smoothing is finished and the motion completely stops. This means that by creating a

ladder file in which MFIN is only triggered high when a DEN is detected, an M code could ensure a complete stop if

placed between two G01 movement commands, as is done in the above figure.

x velocity

time smoothing time

MF (F7.0)

DEN (F1.3)

MV1 (F102.0)

MFIN (G5.0)

G01X50 finishes



_____________________________________________________________________________________

5-2

5.2 Examples of MF/DEN Timing

5.2.1 Example 1: When G and M Are In Different Blocks

G01X_F_

M_

G01Y_

5.2.2 Example 2: When G and M Are In The Same Block (Parameter G and M Code Order: MG)

G01X_F_

G01Y_M_

speed

time

MF and DEN MFIN

speed

time

MF DEN

MFIN (when MFIN is set high when MF is detected)

X Y



_____________________________________________________________________________________

5-3

5.2.3 Example 3: When G and M Are In the Same Block (Parameter G and M Code Order: Same Time)

G01X_F_

G01Y_M_

5.2.4 Example 4: When G and M Are In the Same Block (Parameter G and M Code Order: GM)

G01X_F_

G01Y_M_

5.3 History of MF/DEN Specification

Prior to Version 3.83 of ServoWorks CNC products or SMP products, the timing of the Block Pulse Distribution

Done (DEN) signal was set high when the block pulse distribution was finished, which is the point of the onset of

deceleration due to smoothing. In other words, DEN was set high at the point when movement would have stopped

if there was no smoothing. Now, DEN is set high after the smoothing is finished and the motion completely stops.

speed

time

MF DEN

NOTES 1) Y starts moving even if MFIN is not set high 2) It is also possible to start processing the M

code after detecting DEN

X Y

speed

time

MF DEN

X Y


Chapter 6: Manual Absolute Mode

_____________________________________________________________________________________

6-1


6.1 Manual Absolute On/Off

When the machine is moved using JOG mode or the handwheel, the user may choose whether to add the moved

distance to the coordinates or not by using manual absolute mode. When manual absolute mode is ON, the manual

movement is added to the coordinates, while when manual absolute is OFF, the manual movement is not added.

Figure 6-1: Manual Absolute ON, ABSN(G06.2) = 0. [The coordinates change with manual movement.]

Figure 6-2: Manual Absolute OFF, ABSN(G06.2) = 1. [The coordinates remain unchanged.]

X axis

Y axis Manual movement

X1

Y1

Manual movement

X2

Y2



_____________________________________________________________________________________

6-2

6.2 Machine Path with Absolute and Incremental Commands

6.2.1 The Case When Manual Absolute Is OFF, ABSN (G06.2) = 1

For both the end point of the block in which manual intervention occurred and for later blocks, the machine path

follows the programmed path offset by the manual movement distance, regardless of whether the movement

commands were absolute or incremental.

Figure 6-3: Manual Absolute OFF, ABSN(G06.2) = 1.

The distance moved manually is not counted in the actual position, so when the program finishes running, the actual

position will be the same as the program position. Thus, the manual movement is invisible from the actual position

reading. On the other hand, the machine position will have moved by the manual movement distance.

Regardless of whether the command was an absolute command or an incremental command, the machine path is offset by the manual movement distance compared to the programmed path.

Manual movement

the programmed path



_____________________________________________________________________________________

6-3

6.2.2 The Case When Manual Absolute Is ON, ABSN(G06.2) = 0

Until the block in which manual intervention occurred finishes, the machine path follows the programmed path

offset by the manual movement distance, regardless of whether the movement commands were absolute or

incremental (A in the figure). After that block, the machine path followed is different for incremental and absolute

commands. As long as the proceeding blocks are incremental commands, the offset caused by manual movement

will be preserved. However, at the point in which an absolute command block is encountered, the machine path

returns to the originally programmed path (AA', BB', CC' in the figure).

Figure 6-4: Manual Absolute ON, ABSN(G06.2) = 0.

programmed path

Machine path during incremental commands

Machine path returns to programmed path at the point in which an absolute command block is encountered.

A

B C

A′ B′

C′

Manual movement



_____________________________________________________________________________________

6-4

6.3 Input/Output Signals

6.3.1 Manual Absolute Signal ABSM (G06.2)

Classification

Input Signal

Description

Manual Absolute Signal ON/OFF

Function

0: Manual Absolute ON

1: Manual Absolute OFF

6.3.2 Manual Absolute Confirmation Signal MABSM (F04.2)

Classification

Output Signal

Description

Sends manual absolute status to PLC

Function

0: Manual Absolute Signal ABSM = 1

1: Manual Absolute Signal ABSM = 0

6.3.3 Relationship of F04.2 to G06.2

F04.2 and G06.2 are not always in sync. F04.2 only reflects the status of the motion engine, and only in AUTO or

MDI mode are F04.2 and G06.2 synchronous. In other modes, F04.2 and G06.2 are independent of each other.



_____________________________________________________________________________________

6-5

6.4 Examples

6.4.1 Example 1: Manual Operation After the End of a Block

N10 G90

N20 G01 X100.0 Y100.0 F1000

N30 X200.0 Y150.0

At the end of the block N20, feed hold is used and manual operation is performed (Y+100, X+20), after which the

program is resumed.

Figure 6-5: Manual Absolute Mode Example #1

(0, 0)

(100, 100)

(200, 150)

(220, 250) (120, 200)

Manual movement

X axis

Y axis

programmed machine path

Manual Absolute OFF ABSN (G06.2) = 1

Manual Absolute ON ABSN (G06.2) = 0



_____________________________________________________________________________________

6-6

6.4.2 Example 2: Manual Operation in the Middle of a Block

N10 G90

N20 G01 X100.0 Y100.0 F1000

N30 X200.0 Y150.0

N40 X300.0 Y200.0

In the middle of executing block N20, feed hold is used and manual operation is performed (Y+75), after which the

program is resumed. Until the block N20 is finished executing, the path is the same regardless of whether manual

absolute is ON or OFF, but when manual absolute is ON, on the next block, the machine path returns to the

programmed path.

Figure 6-6: Manual Absolute Mode Example #2

(150, 125)

(200, 225)

(150, 200)

Manual movement

(300, 200)

(200, 150)

(300, 275)

(100, 100)

programmed machine path

Manual Absolute OFF ABSN (G06.2) = 1

Manual Absolute ON ABSN (G06.2) = 0

X axis

Y axis


Chapter 7: PLC Interrupt

_____________________________________________________________________________________

7-1


7.1 PLC Interrupt

The PLC Interrupt function allows you to offset the positions of any of the axes in a manner similar to the Jog

Interrupt and Handwheel Interrupt functions (for more information on these functions, see Section 15.9.5: Using the

Jog Interrupt Function and Section 15.4.4: Handwheel Interrupt of the Operator’s Manual for ServoWorks S-100M,

S-120M and S-140M). When PLC Interrupt is activated, the axis specified by the PLC Interrupt Axis Selection

signal immediately starting moving the distance specified by the PLC Interrupt Offset signal. PLC Interrupt can be

used in any mode with the exception of HOME mode. It can be used during the execution of a part program in

AUTO mode.

7.2 Input/Output Signals

7.2.1 PLC Interrupt Axis Selection Signals: PLCIA-PLCID (G041.4-G041.7)

Classification

Input Signal

Function

Selects the axis to enable the PLC Interrupt function, or disables the PLC Interrupt function if no axes are selected.

The following table shows the which axis will be selected for each of the valid signal combinations:

AXIS PLCIA (G41.4)

PLCIB (G41.5)

PLCIC (G41.6)

PLCID (G41.7)

Disabled 0 0 0 0

1 1 0 0 0

2 0 1 0 0

3 1 1 0 0

4 0 0 1 0

5 1 0 1 0

6 0 1 1 0

7 1 1 1 0

8 0 0 0 1

Table 7-1: PLC G Address Map for PLC Interrupt Axis Selection

7.2.2 PLC Interrupt Offset Signals: PLCI00-PLCI31 (G192.0-G195.7)

Classification

Input Signal



_____________________________________________________________________________________

7-2

Function

Sets the offset to apply to the axis selected by the PLC Interrupt Axis Selection signals. PLCI00-PLCI07 (G192.0-

G192.7) constitute the least significant byte, and PLCI24-PLCI31 (G195.0-G195.7) constitute the most significant

byte.

The entire 4-byte value is interpreted as an integer; negative numbers can be specified using the 2’s complement

notation (with G195.7 as the sign bit).

The unit of measurement for the offset distance is the value of the Machine Unit parameter.

7.3 Applying an Offset Using the PLC Interrupt

The PLC Interrupt function is enabled by selecting an axis using the PLC Interrupt Axis Selection signals. The PLC

Interrupt Axis Selection signals are set through the LadderWorks PLC ladder program. The PLC Interrupt function

can only be enabled for one axis at a time. To disable the PLC Interrupt function at any time, set all of the PLC

Interrupt Axis Selection signals to 0.

Upon selecting an axis, the distance contained in the PLC Interrupt Offset signals will be traveled by the selected

axis. The offset distance is calculated as the value of the Machine Unit parameter for the selected axis multiplied by

the value specified by the PLC Interrupt Offset signals.

Smoothing, Rapid Feedrate, and Max Feedrate parameters will be considered when calculating the motion from the

PLC Interrupt function. The movement velocity will be limited by the Rapid Feedrate or, if set, the Max Feedrate.

The smoothing for the movement will be affected by the Smoothing parameters. If the PLC Interrupt

responsiveness is too slow due to smoothing, you may want to change the Smoothing parameters. Smoothing Time

can also be changed dynamically in AUTO mode by executing the G code “G10L108” (see Section 6.3.8:

Programmable Data Input (G10) of the Part Programming Manual for ServoWorks S-100M, S-120M and S-140M).

After starting the PLC Interrupt function, the selected axis will maintain the offset contained in the PLC Interrupt

Offset signals. Any changes in the PLC Interrupt Offset signals will generate movement for the selected axis.

When the PLC Interrupt Offset is reduced, the axis will move in the negative direction to maintain the offset, and

when the PLC Interrupt Offset is increased, the axis will move in the positive direction.

Movement from the PLC Interrupt function will be reflected in the Actual Position and Machine Position displays,

but not the Program Position display.

When the PLC Interrupt function is disabled by setting the PLC Interrupt Axis Selection signals to 0, the axis will

move back to the zero offset position.

This function is entirely disabled in HOME mode. If the PLC Interrupt Offset is changed during HOME mode, the

offset will be applied the next time the operation mode is changed to something other than HOME mode.

7.4 Examples

7.4.1 Example 1: Gap Control

If proper input signals are available, the PLC Interrupt function may be used to implement a gap control function to

maintain the same distance between the tool tip and an uneven surface. By inputting into the LadderWorks PLC a

feedback signal that contains information about the distance between the tool tip and surface, the PLC can

compensate for deviations in the distance by moving the tool up or down by utilizing the PLC Interrupt function.

The offsets can dynamically be applied during the execution of a part program in AUTO mode.


Chapter 8: LadderWorks PLC Architecture

_____________________________________________________________________________________

8-1


LadderWorks™ PLC is an independent programmable logic control (PLC) package that is included with and

integrated with all of Soft Servo Systems' SMP general motion control products and all ServoWorks CNC products.

LadderWorks PLC includes:

The LadderWorks PLC Engine – a real-time soft PLC module that executes PLC sequence programs in

binary format. [NOTE: the LadderWorks PLC Engine only executes in conjunction with the soft Motion

Engine of a ServoWorks CNC product or an SMP product, because the LadderWorks PLC Engine is

seamlessly integrated with the ServoWorks CNC Engine/SMP Motion Engine into a single motion/machine

control application.] This PLC for machines and machine tools reads and executes the binary PLC sequence

program file every 5 ms (or every 8 ms for ServoWorks S-100T, or some other user-defined scan time),

decides if it needs to take any action based on these inputs or changes in these inputs, and issues commands to

the ServoWorks CNC Engine/SMP Motion Engine or the machine, if necessary.

LadderWorks Console – a Win32 application for creating, editing, monitoring, debugging and compiling PLC

ladder diagram (LD) sequence programs (see Note #3 on page 5-3 for compatibility requirements)

Four separate utility programs:

o PLC Control Screen Utility – a stand-alone application that you can use to edit and compile

your sequence programs in PLC Instruction List (IL) format into executable binary files, which

can then be understood and executed by the LadderWorks PLC Engine

o PLC Diagnose Utility – for verifying sequence programs with ladder diagrams (viewing ladder

diagrams only – you cannot edit in the ladder diagram format with this utility). [NOTE: This is

a LadderWorks PLC legacy product that will be discontinued in the future – you shouldn’t need

to use this, as LadderWorks Console has all of these functions and more. However, its use is

explained here for completeness.]

o PLC Bit Pattern Utility – real-time bit pattern display for any signal address (F, G, X or Y data)

o PLC Time Chart Utility – for showing the history of specified bit signals in any signal address,

to aid in debugging PLC sequence programs



_____________________________________________________________________________________

8-2

These LadderWorks PLC components interact with the ServoWorks CNC applications or SMP general motion

control applications, and the ServoWorks CNC or SMP Real-Time Modules as shown in the following figure:

Windows 2000 / XP / XPe PC

Host CPU

Win32 Subspace

RTOS Subspace

LadderWorks PLC Link Service

Ladder-Works

Console

SMP400, SMP450, SMP800, SMP850, SMP1600,

MC-Quad, S-100M, S-120M, S-140M, S-200M, S-100T

PLC Control Screen Utility

PLC Bit Pattern Display Utility

PLC Time Chart Utility

RealTime DLL

PLC Diagnose

Utility

Hard Drive Hard Drive

Machine

ServoWorks G-Code

Parser or SMP Motion

Parser

Ladder-Works

PLC Engine

ServoWorks CNC Engine

or SMP Motion Engine

Figure 8-1: Architecture of the LadderWorks PLC

NOTE: The LadderWorks PLC software includes the LadderWorks PLC Engine. You must run LadderWorks PLC

in conjunction with a ServoWorks CNC product or an SMP product in order to run the LadderWorks PLC Engine.

However, you can use LadderWorks Console by itself to create and edit sequence programs without running

(executing) a ServoWorks CNC product or an SMP product.


Index

_____________________________________________________________________________________

I

Index

A

ABSM .................................................................... 6-4

ABSN .................................................................... 6-1

addresses .................................. See memory addresses

A0~A99 ............................................................ 2-7

C0~C79 ...................................................... 2-5, 3-1

counter ....................................................... 3-1, 3-2

D0~D1999 ................................................. 2-6, 3-2

data table ........................................................... 3-2

F0~F399 ............................................................ 2-3

G0~G399 .......................................................... 2-3

K0~K99 ..................................................... 2-6, 3-2

keep relay .......................................................... 3-2

R9000~R9099 ................................................... 2-4

T0~T399 ........................................................... 2-7

X0~X999 .......................................................... 2-3

Y0~Y999 .......................................................... 2-3

alarm relay addresses ............................................. 2-7

architecture, LadderWorks PLC ............................ 8-2

axis block stop prohibited signal ........................... 4-7

axis block stop signal ............................................. 4-7

axis buffer full signal ............................................. 4-6

axis command skip signal ...................................... 4-8

axis control command code signals ....................... 4-5

axis control command read-in completed signal ... 4-6

axis control command read-in strobe signal .......... 4-6

axis control data signals ......................................... 4-5

axis counter value signals ...................................... 4-8

axis distribution end signal .................................... 4-8

axis encoder counter clear signal ........................... 4-8

axis feedrate control signals............................ 4-5, 4-9

axis reset signal ...................................................... 4-6

axis signals............................................................. 4-4

axis temporary stop signal ..................................... 4-7

B

binary execution files ............................................. 8-1

bit pattern display .................................................. 8-1

block stop prohibited signal ................................... 4-7

block stop signal .................................................... 4-7

buffer full signal .................................................... 4-6

C

CNC Engine ........................................................... 8-1

CNC products ........................................................ 8-1

command skip signal ............................................. 4-8

compiling

sequence programs ............................................ 8-1

completed signal .................................................... 4-6

control command code signals ............................... 4-5

control command read-in completed signal ........... 4-6

control command read-in strobe signal .................. 4-6

control data signals ................................................ 4-5

counter addresses ..................................... 2-5, 3-1, 3-2

counter value signals ............................................. 4-8

D

data addresses ........................................................ 2-6

data signals ............................................................ 4-5

data table addresses ............................................... 3-2

data table(s) ........................................................... 3-3

DEN signal ............................................................ 5-1

display of bit patterns ............................................ 8-1

distribution end signal ........................................... 4-8

DSCHB .................................................................. 3-3

E

editing sequence programs .................................... 8-1

encoder counter clear signal .................................. 4-8

end signal ............................................................... 4-8

Engine, LadderWorks PLC .................................... 8-1

Engine, ServoWorks CNC ..................................... 8-1

Engine, SMP Motion ............................................. 8-1

example code ....................................................... 4-11

executable binary files ........................................... 8-1

execution of a sequence program .......................... 1-1

execution time of a sequence program .................. 1-2

F

F_BUFn ................................................................. 4-6

F_CNCAn .............................................................. 4-6

F_CnP00, F_CnP31 ............................................... 4-8

F_DENn ................................................................. 4-8

F04.2 ...................................................................... 6-4

feedrate control signals ................................... 4-5, 4-9

full signal ............................................................... 4-6

functional command results ................................... 2-4

functional commands

DSCHB ............................................................. 3-3

XMOVB ........................................................... 3-3

G

G_CDNX0, G_CDnX7 .......................................... 4-5

G_CSKPn .............................................................. 4-8

G_CTCLn .............................................................. 4-8

G_DnX00, G_DnX31 ............................................ 4-5

G_FDnX0, G_FDnXF .................................... 4-5, 4-9

G_MSBKn ............................................................. 4-7

G_ROV1E, G_ROV2E .......................................... 4-4

G_RTSn ................................................................. 4-6

G_SBKn ................................................................ 4-7

G_STPn ................................................................. 4-7


Index

_____________________________________________________________________________________

II

G06.2 .............................................................. 6-1, 6-4

H

history of bit signals .............................................. 8-1

I

I/O addresses ........................... See memory addresses

I/O signals ....................................................... 1-2, 2-2

IL format ................................................................ 8-1

input signals to the LadderWorks PLC Engine ...... 1-2

input/output ...................................................... See I/O

input/output signals for manual absolute mode ..... 6-4

input/output signals for PLC interrupt ................... 7-1

Instruction List format ........................................... 8-1

instruction sequence execution .............................. 1-4

internal relay .......................................................... 2-4

K

keep relay addresses ....................................... 2-6, 3-2

L

ladder diagrams ..................................................... 8-1

LadderWorks Console application ........................ 8-1

LadderWorks PLC Engine ..................................... 8-1

input signals ...................................................... 1-2

output signals .................................................... 1-2

legacy software products ....................................... 8-1

M

MABSM ................................................................ 6-4

manual absolute mode ........................................... 6-1

memory addresses.................................................. 2-1

alarm relay ........................................................ 2-7

counter addresses .............................................. 2-5

data table ........................................................... 2-6

description ......................................................... 2-1

internal relay ..................................................... 2-4

keep relay .......................................................... 2-6

related to the machine tool ................................ 2-3

related to the ServoWorks CNC Engine/SMP

Motion Engine.............................................. 2-3

signal types ....................................................... 2-2

specifications .................................................... 2-2

timer .................................................................. 2-7

types of.............................................................. 2-1

memory,static ........................................................ 3-1

MF signal ............................................................... 5-1

MFIN signal ........................................................... 5-1

Motion Engine ....................................................... 8-1

MV1 signal ............................................................ 5-1

O

order of execution .................................................. 1-1

output signals from the LadderWorks PLC Engine 1-2

P

PLC axis block stop prohibited signal ................... 4-7

PLC axis block stop signal .................................... 4-7

PLC axis buffer full signal ..................................... 4-6

PLC axis command skip signal .............................. 4-8

PLC axis control .................................................... 4-1

PLC axis control command code signals ............... 4-5

PLC axis control command read-in completed signal

.......................................................................... 4-6

PLC axis control command read-in strobe signal .. 4-6

PLC axis control data signals ................................ 4-5

PLC axis counter value signals .............................. 4-8

PLC axis distribution end signal ............................ 4-8

PLC axis encoder counter clear signal ................... 4-8

PLC axis example code ....................................... 4-11

PLC axis feedrate control signals ................... 4-5, 4-9

PLC axis rapid override selection signals .............. 4-4

PLC axis reset signal ............................................. 4-6

PLC axis signals .................................................... 4-4

PLC axis temporary stop signal ............................. 4-7

PLC Bit Pattern utility ........................................... 8-1

PLC Control Screen utility .................................... 8-1

PLC data table(s) ................................................... 3-3

PLC Diagnose utility ............................................. 8-1

PLC Engine ........................................................... 8-1

input signals ...................................................... 1-2

output signals .................................................... 1-2

PLC instruction sequence execution ...................... 1-4

PLC interrupt ......................................................... 7-1

PLC Time Chart utility .......................................... 8-1

PLCI00-PLCI31 .................................................... 7-1

PLCIA-PLCID ....................................................... 7-1

R

rapid override selection signals ............................. 4-4

read-in completed signal ........................................ 4-6

read-in strobe signal ............................................... 4-6

real-time bit pattern display ................................... 8-1

repetitive sampling ................................................ 1-2

reset signal ............................................................. 4-6

results of functional commands ............................. 2-4

S

sampling, repetitive ............................................... 1-2

scan time ................................................................ 8-1

sequence programs

compiling .......................................................... 8-1

editing ............................................................... 8-1

example code .................................................. 4-11

execution time ................................................... 1-2


Index

_____________________________________________________________________________________

III

repetitive sampling ............................................ 1-2

sequence of processing ..................................... 1-1

verifying ............................................................ 8-1

sequential processing of a sequence program ........ 1-1

ServoWorks CNC Engine ...................................... 8-1

ServoWorks CNC products ................................... 8-1

signals .................................................. See I/O signals

PLC axis block stop .......................................... 4-7

PLC axis block stop prohibited ......................... 4-7

PLC axis buffer full .......................................... 4-6

PLC axis command skip ................................... 4-8

PLC axis control command code ...................... 4-5

PLC axis control command read-in completed . 4-6

PLC axis control command read-in strobe ........ 4-6

PLC axis control data ........................................ 4-5

PLC axis counter value ..................................... 4-8

PLC axis distribution end.................................. 4-8

PLC axis encoder counter clear ........................ 4-8

PLC axis feedrate control........................... 4-5, 4-9

PLC axis reset ................................................... 4-6

PLC axis temporary stop ................................... 4-7

skip signal .............................................................. 4-8

SMP general motion control products ................... 8-1

SMP Motion Engine .............................................. 8-1

static memory ................................................. 2-5, 2-7

counter ....................................................... 3-1, 3-2

data table ........................................................... 3-2

keep relay .......................................................... 3-2

overview ........................................................... 3-1

reading and writing ........................................... 3-2

timer .................................................................. 3-1

strobe signal ........................................................... 4-6

T

temporary stop signal ............................................. 4-7

time charts ............................................................. 8-1

timer ....................................................................... 3-1

timer addresses ...................................................... 2-7

timing chart, MF/DEN ........................................... 5-1

V

verifying sequence programs ................................. 8-1

X

XMOVB ................................................................ 3-3

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