XINJE Bus Servo PLC Function Block (POU_1_1) Packaging Diagram, which illustrates the typical interface structure of this packaging in motion control. This packaging is commonly used to integrate XINJE servo drives (such as through bus protocols like EtherCAT, CANopen, etc.) with PLCs (for example, XINJE XC series PLCs) to achieve precise control of axes.
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1. Main Application Scenarios of XINJE Bus Servo Packaging
-
Automated Production Lines
- Used in devices requiring high precision positioning and synchronous control, such as packaging machines, labeling machines, and sorting machines.
- Multi-axis linkage (e.g., X/Y/Z axis coordination) to achieve complex trajectory motion.
Robotic Arms and Robot Systems
- As the control unit for joint motors, in conjunction with PLCs to achieve multi-axis coordinated actions.
- Supports switching between various modes such as position, speed, and torque.
CNC Machine Tools and Processing Centers
- Achieves high-speed, high-precision feed motion control.
- Supports interpolation, arc, and linear path planning.
Printing and Cutting Equipment
- In scenarios requiring precise positioning and high-speed response, such as laser cutting and screen printing.
2. Significance of XINJE Bus Servo Packaging
✅ 1. Simplifies Programming and Debugging
- Encapsulates complex servo communication protocols (such as EtherCAT) into standard function blocks (FB), allowing users to avoid understanding the underlying communication details.
- Provides clear input and output interfaces (such as
<span>EX_MOV_R</span>,<span>MoveR_Done</span>), facilitating configuration and debugging.
✅ 2. Improves System Stability and Reliability
- The encapsulation handles state feedback, error code parsing, timeout retries, etc., reducing the risk of misoperation.
- Automatically manages enable, reset, stop, and other logical processes to avoid faults caused by illegal commands.
✅ 3. Supports Multiple Motion Modes
| Function | Description |
|---|---|
Relative Positioning (<span>EX_MOV_R</span>) |
Moves a specified distance from the current position |
Absolute Positioning (<span>EX_MOV_A</span>) |
Moves to a specified absolute position |
Jog Control (<span>Jog</span>) |
Manually fine-tune the position, suitable for debugging |
| Acceleration/Deceleration Settings | Configurable acceleration and deceleration for smooth motion |
✅ 4. Strong Real-Time and Synchronization
- Bus-type servos (such as EtherCAT) have low latency and high synchronization, suitable for multi-axis linkage.
- Supports master-slave synchronization, electronic gear ratios, cam curves, and other advanced functions.
✅ 5. Easy to Expand and Maintain
- Modular design, one axis per function block, convenient for copying and modification.
- Clear error messages (such as
<span>Power_Err_ID</span>,<span>MovR_Err_ID</span>), facilitating quick diagnosis.
3. Key Parameter Descriptions in the Diagram (combined with your screenshots)
| Input Parameters | Usage |
|---|---|
<span>En_Power</span> |
Enable axis |
<span>EX_Reset</span> |
Axis reset command |
<span>EX_Stop</span> |
Stop axis operation |
<span>EN_Jog_A/B</span> |
Forward/Reverse jog enable |
<span>Jog_Val</span> |
Jog speed |
<span>Jog_ACC/DEC</span> |
Jog acceleration/deceleration |
<span>EX_MOV_R</span> |
Start relative positioning |
<span>MoveR_Pos/Vel/Acc/Dec</span> |
Target position, speed, acceleration, and deceleration for relative positioning |
<span>EX_MOV_A</span> |
Start absolute positioning |
<span>MoveA_Pos/Vel/Acc/Dec</span> |
Target parameters for absolute positioning |
<span>Axis</span> |
Specify the axis number to control (e.g., BMC_Axis000) |
| Output Parameters | Meaning |
|---|---|
<span>Power_Done</span> |
Enable successful |
<span>Power_Err_ID</span> |
Reason for enable failure |
<span>Rset_Done</span> |
Reset completed |
<span>Stop_Done</span> |
Stop completed |
<span>MovR_Done</span> |
Relative positioning completed |
<span>MovA_Done</span> |
Absolute positioning completed |
<span>Busy</span> |
Currently running |
<span>Err</span> |
Error flag |
4. Practical Usage Recommendations
- Set acceleration and deceleration parameters reasonably: Avoid excessive impact that affects lifespan.
- Enable alarm monitoring: Timely handle
<span>Err</span>and error codes. - Use with HMI: Can display current status, position, speed, and other information.
- Pay attention to synchronization time for multi-axis linkage: Especially when using interpolation or cams.
- Regularly calibrate the origin: Particularly after long-term operation, which may cause drift.
5. FB Block Packaging
REGION //Axis Initialization
Power(Enable := En_Power,
Axis := Axis,
ErrCode =>Power_Err_ID ,
PwrStat =>Power_Done
);
END_REGION
REGION //Axis Reset
R(Clk := EX_Reset ,
Q =>relay[0] );
Rest(Execute := relay[0] ,
Axis := Axis,
ErrCode => Rset_Err_ID,
Done => Rset_Done,
Busy => Busy,
Err => Err);
END_REGION
REGION //Axis Stop
R(Clk := EX_Stop OR relay[11],
Q =>relay[1] );
BMC_A_Stop_1(Execute := relay[1] ,
Axis := Axis,
Deceleration := Stop_Dec,
Jerk := Stop_Jerk,
StopMode := Stop_Mode,
ErrCode => Stop_Err_ID,
Done => Stop_Done,
Busy => Busy,
Abort => ,
Err =>Err );
relay[11] := FALSE;
END_REGION
REGION //Axis Jog
IF EN_Jog_A THEN
seep_Jog := 999999999.0;
relay[10] :=TRUE;
ELSIF EN_Jog_B THEN
seep_Jog := -999999999.0;
relay[10] :=TRUE;
ELSIF BMC_A_JOG_1.Busy AND NOT (EN_Jog_A OR EN_Jog_B) THEN
relay[11] :=TRUE;
END_IF;
if Busy THEN
Stop_Done := 0;
BMC_A_Stop_1.Done := 0 ;
END_IF;
BMC_A_JOG_1(Execute :=relay[10],
Axis := Axis,
Pos := seep_Jog,
Vel := Jog_Val,
Acc := Jog_ACC,
Deceleration := Jog_DEC,
Jerk := Jog_ACC*10,
ContinuousMode := ,
Dir := ,
BufferMode := ,
ErrCode => ,
Done =>,
Busy => Busy,
Active => ,
Abort => ,
Err => Err);
relay[10] := FALSE;
END_REGION
REGION //Axis Relative Positioning
R(Clk := EX_MOVR,
Q =>relay[12] );
BCM_A_MOVR_1(Execute := relay[12],
Axis := Axis,
Pos := MoveR_Pos,
Vel := MoveR_Vel ,
Acc := MoveR_Acc,
Deceleration := MoveR_Dec ,
Jerk :=MoveR_Acc*10.0,
ContinuousMode := ,
Dir := ,
BufferMode := ,
ErrCode => MovR_Err_ID,
Done => MovR_Done ,
Busy => Busy,
Active => ,
Abort => ,
Err =>Err );
END_REGION
REGION //Axis Absolute Positioning
R(Clk := EX_MOVA ,
Q =>relay[13] );
BCM_A_MOVA_1(Execute := relay[13] ,
Axis := Axis,
Pos := MoveA_Pos,
Vel := MoveA_Vel,
Acc := MoveA_Acc,
Deceleration := MoveA_Dec,
Jerk := MoveA_Acc*10.0,
ContinuousMode := ,
Dir := ,
BufferMode := ,
ErrCode =>MovA_Err_ID ,
Done => MovA_Done,
Busy =>Busy ,
Active => ,
Abort => ,
Err =>Err );
END_REGION
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