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XMC Motion Controller

Motion Controller
(with embedded I/O)
• XMC-E08A • XMC-E16A
• XMC-E08A-DC • XMC-E16A-DC

The XMC programmable motion controller pairs advanced within the free-to-download XG5000 programming software.
automation with a cost-effective and user-friendly engineering XG5000’s various bult-in motion control and CNC control
solution. The XMC series delivers high performance EtherCAT- functions can be applied to a wide range of machines including
based motion control functions along with a variety of embedded packaging machines, dedicated CNC, XYZ cartesian coordinate
functions and high-tech capabilities specialized for various motion systems and Delta robots.
tasks.
The XMC series delivers an optimized solution to a system that
has a need for motion control. With 8 digital inputs / 16 digital
Features
outputs, analog inputs (2ch) / analog outputs (2ch), encoder • EtherCAT port supports up to 16 motion axis and 32 slave devices
(depending on XMC model)
inputs (2ch) and an EtherCAT port, many applications can be
deployed rapidly and easily. A built-in SD card slot is available for • Ethernet port supports ModbusTCP and socket programming.
saving programs, downloading programs, and logging data. The • 8 digital inputs
XMC series is capable of high-speed program processing of 6.25 • 16 digital outputs
ns for a basic command. EtherCAT cycle times of 0.5/1/2/4 ms can • 2-channel analog inputs
be achieved depending on system setup.
• 2-channel analog outputs
XMC-E16A supports up to 16 EtherCAT servos and 32 EtherCAT • 2-channel encoder inputs
slaves total. XMC-E08A supports up to 8 EtherCAT servos and • For additional IO, use XEL-BSSCT with XGB IO
16 EtherCAT slaves total. EtherCAT devices such as I/O, AC
drives, stepper drives, encoders, and robots may be connected • Built-in SD card slot
to an XMC. The XMC series gives you advanced functionality by • XG5000 software with IEC 61131 programming languages (Ladder,
supporting CAM profiles, G-code, and robot control (Delta3, Delta Structured Text), User Defined tags/ function blocks, 64 bit data types,
3R, Linear Delta, and others). and motion axis graphing
• Motion function blocks compliant to the PLCopen standard.
The XMC series offers an advanced level of programming,
• G-code and robot control supported
featuring the IEC61131-3 standard capable of Ladder and
Structured Text. Motion programming is compliant to the • PID control available with XG5000 function block
PLCopen standard. All development and commissioning are done • DIN-rail mountable

Motion Controller Feature Breakdown

Built-in I/O*
Max
EtherCAT Memory Online
Part Number Price USB Ethernet EtherCAT Drawing
Motion Inputs Outputs Backup Editing
Slaves
Axis
XMC-E08A $857.00 8 Memory: PDF
16 Non-Volitale
XMC-E08A-DC $857.00 8 RAM PDF
8 16 Yes Yes RTC: 6 month Yes
XMC-E16A $959.00 16 backup PDF
32 (MS920T
XMC-E16A-DC $959.00 16 battery) PDF

* To add additional I/O, use XEL-BSSCT bus coupler and XGB series I/O modules.

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XMC Motion Controller

XMC Configuration

Mode Switch
Sets basic operation SD Card Command Button
mode (see table below) (See table below)
Status Indicators
(See table below)
Encoder Input
5VDC encoder inputs (qty 2)

A/D
PWR
A+ 00 D/A
RUN V0+
Analog Input
L
A- 01 A 0
ERR I0+

ENC1
RUN STOP RST B+ 02 1
2 current

ENC1
STATE COM0
B- 03 2 V1+
RD/WR
SD CMD A+ 04
B 3 I1+
or voltage
A- 05
SD Card 4 analog inputs

ENC2
A COM1
B+ 06
5

ENC2
07
Slot B-
6
XGT B 7
XMC–E16A/DC

0 8
RUN
Ethernet 00 08 1 9
V0+
01 09 2 10
ACT V0–
02 10 11
3
03 11
4 12
V1+
V1–
Analog Output
04
05
12
13
5 13 NC 2 voltage
06 14 6 14 NC
analog
RUN EtherCAT 07 15 7 15
COM
L outputs
Mini-B USB ACT +–
–+
COM
–+
24 Vd.c.
Connector OPEN 5mA
12 Vd.c.
24 Vd.c.
.05 A

Power Input Ethernet Digital Input Digital Output Input/output Display

EtherCAT
110/220VAC or 24VDC Port 8 sinking 16 sinking Displays status
Port
depending on model or sourcing outputs of digital input/
inputs output and encoder
terminals

Status Indicators Mode Switch SD Card Command Button

Indicator Function Position Function Action Function
Press less SD Card additional functions such as
PWR Red LED is illuminated when power is ON. RUN Executes user program.
than 3 program back-up, program recovery,
Green LED is illuminated when XMC is in Normal program load position. Allows seconds and program comparison.
RUN STOP
RUN mode. for Remote Run from XG5000. Press more
than 3 Enable or Disable SD card.
Red LED is illuminated to indicate program
ERR RST Reset program operation. seconds
error(s).
Pressing
Red LED is illuminated when SD card is
STATE while Performs SD Card boot operations.
installed or flickering for an SD card error.
Powering Up
Red LED is flickering during SD card
RD/WR
read/write.

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XMC Motion Controller

Performance Specifications
Part Number
Specification
XMC-E08A XMC-E16A XMC-E08A-DC XMC-E16A-DC
Input Voltage Range 100–240 VAC (50/60Hz) 19.2–28.8 VDC
0.7 A or less (110VAC)
Input Current 1.6 A or less
0.4 A or less (120VAC)
Inrush Current 120A peak or less (240VAC, Phase 90 degree) 100A peak or less (28.8 VDC)
Input
Leakage Current 3mA or less
Efficiency 65% or more
Power Specifications

Acceptable External Power

10ms or less
Drop
Output Voltage +5V 4.90–5.20 V 5.90–5.15 V
Ripple Range +24V 21.1–26.9 V –
+5V 4A
Output Current
+24V 0.4A –
+5V 100mVpp or less
Output Ripple
+24V 400mVpp or less –
+5V 200mVpp or less
Noise
+24V 400mVpp or less –
Overcurrent +5V 4.4 A or higher
Protection +24V 0.44A or higher –
Operation Method Main task/Periodic task: Fixed cyclic operation, initialization task: executed when entering RUN mode.
Control Cycle Time Main task time: 0.5 ms, 1ms, 2ms, 4ms. Periodic task time: multiple setting of main task.
I/O Control method Synchronized with main task
Programming Languages LD (Ladder Diagram), ST (Structured Text), G-Code
Special Features/Instructions User Defined Data Type, User Defined Functions/Function Blocks
Calculation Basic 6.25 ns or more (general point/coil)
Processing MOVE 5ns or more (Word type)
Speed Arithmetic 30ns or more (Word type)
Program Quantity Maximum 256
Memory Capacity 10MB (motion program), 10MB (NC program)
Symbolic Variable (A) 4,096 kB (retain setting available up to 2,048 kB)
Input Variable (I) 16kB
Output Variable (Q) 16kB
Data Memory Direct Variable (M) 2,048 kB (configurable up to 1,024 kB)
F 128kB
Flag Variable K 18kB
U 1kB
Timer Time range: 0.001–4,294,967.295 seconds (1,193 hours)
Counter Counting range: 64-bit range
Available Program Types Initialization program, main task program, periodic task program, NC program
Operation Mode RUN, STOP
Restart Mode Cold, Warm
Diagnostic Functions Cyclic error monitoring, program watchdog time, memory monitoring, power monitoring, etc.
Data Retention in Case of Power Failure Retained memory and variables are backed up when power failure is detected.

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XMC Motion Controller

Built-in Functions
Part Number
Specification
XMC-E08A XMC-E16A XMC-E08A-DC XMC-E16A-DC
Real/Virtual Axes 8 16 8 16
EtherCAT Control Dedicated Virtual Axis 1 2 1 2
Slave (including real axes) 16 32 16 32
Supported EtherCAT Devices CoE: CANopen over EtherCAT, FoE: File Access over EtherCAT
Communication Period 0.5 ms, 1ms, 2ms, 4ms (same as the Main Task period)
Servo Drive Support Only EtherCAT servo drives that use CANopen over EtherCAT (CoE)
Control Unit Pulse, mm, inch, degree
Control Method Position, Velocity, Torque (servo drive support), Synchronous, Interpolation Control
Position Address Range ± LREAL, 0
Speed Range ± LREAL, 0
Torque Unit Rated torque % designation
Acceleration/Deceleration Processing Trapezoid type, S-type (setting by specifying Jerk at a function block)
Range of Acceleration/Deceleration + LREAL1, 0
Manual Operation JOG Operation
Cam Operation 8 profiles, 8,192 points 16 profiles, 16,384 points 8 profiles, 8,192 points 16 profiles, 16,384 points
Absolute Position System Available (when using an absolute encoder type servo drive)
Digital Input 8 points
Digital Output 16 points (transistor)
Digital I/O 2 channels
Max input: 500Kpps
Encoder Input
Input method: Line drive, Voltage input
Input Type: CW/CCW, Pulse/Direction, Phase A/B
2 channels
Voltage input range: -10 to 10VDC / 0 to 10VDC / 1 to 5VDC / 0 to 5VDC
Analog Input
Current input range: 4–20mA / 0–20mA
Analog Input/ Max. resolution: 14 bit (1/16,000)
Output
2 channels
Analog Output Voltage output range: -10 to 10VDC / 0 to 10VDC / 1 to 5VDC / 0 to 5VDC
Max. resolution: 14 bit (1/16,000)
Coordinate System (Robot) Cartesian, Detla
Memory Type Mirco SDHC
File System FAT32
SD Memory
Maximum Capacity 32GB (memory over 8GB can only use 8GB of overall area)
Functions Program back-up/restoration, booting operation, data logging
Communication Speed Auto / 10Mbps / 100Mbps
Communication Port 1 port
Commmunication Distance Max. 100m betwen slaves
Ethernet
Loader service (XG5000)
LS Electric protocol supported (XGT, MODBUS TCP)
Service
FTP server: read and write files from the SD card
SNTP client
USB USB 2.0, 1 channel
Error Indication Indicated by LED
Weight 790g [1.74 lbs]
1 - LREAL range: 2.22507385585072e-308 to 1.79759313486232e+308. Long real number (+LREAL) positive range: 0 < x < 1.79769313486232e+308

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XMC Motion Controller

EtherCAT Communication Specifications

Item Specifications
Communication Protocol EtherCAT
Support Specification CoE (CANopen over EtherCAT)
Physical Layer 100BASE-TX
Communication Speed 100Mbps
Topology Daisy chain
Communication Cable Cat 5 STP (Shielded Twisted-pair) cable
E16A / E16A-DC = 32 (max 16 motion axes)
Max Number of Slaves
E08A / E08A-DC = 16 (max 8 motion axes)
Communication Period 0.5 ms / 1ms / 2ms / 4ms
Synchronous Jitter Less than 1µs
Synchronous Communication PDO (Process Data Object) mapping through CoE
Communication Setting Set the communication configuration using XG5000
Maximum Transmission Distance 100m
Communication Status Indicator LED

Environmental Specifications, all XMC Series Modules

Item Specification Reference

Ambient Operating Temperature 0–55°C (32–131°F)

Storage Temperature -25–70°C (-13–158°F)
–
Ambient Operating Humidity 5–95% relative humidity (non-condensing)

Storage Humidity 5–95% relative humidity (non-condensing)

Occasional 5 ≤ f < 8.4 Hz 3.5 mm pulse width

Frequency
Vibration1

Vibration 8.4 ≤ f < 150Hz 9.8 m/s2 (1G)

Continuous 5 ≤ f < 8.4 Hz 1.75 mm pulse width

Vibration 8.4 ≤ f < 150Hz 4.9 m/s2 (0.5G) IEC61131-3-2
Peak Acceleration 147 m/s2 (15G)
Shocks Duration 11ms
Pulse Wave Type Half-sine (3 times each direction per each axis)
±1,500VAC
Square Wave Impulse Noise LS Electric standard
±900VDC
IEC61131-3-2
Electrostatic Discharge Voltage: 4kV (contact discharge)
IEC61000-4-2
Noise Resistance

Radiated Electromagnetic Field IEC61131-3-2

80–1,000 MHz, 10 V/m
Noise IEC61000-4-3
Classification Voltage
Fast Transient
/ Burst Noise

Power Supply 2kV

Digital/Analog IEC61131-3-2
Input/Output IEC61000-4-4
1kV
Communication
Interface
Environment Free from corrosive gases and excessive dust
Attitude Up to 2,000m
–
Pollution Degree Less than or equal to 2 (see note 2)

Cooling Method Air-cooling

1 - Vibration of 10 times each direction (X, Y, and Z)
2 - Normally only nonconductive pollution occurs. Temporary conductivity caused by condensation is to be expected.

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XMC Motion Controller

Digital Input Specifications

8-point 24VDC Input (Sink/Source Type) Specifications

Model XMC-E08A XMC-E16A XMC-E08A-DC XMC-E16A-DC
Input Point 8 points
Insulation Method Photocoupler Insulation
Rated Input Volage 24VDC
Rated Input Current About 5mA
Operation Voltage
20.4–28.8 VDC (within ripple rate 5%)
Range
On Voltage 19VDC or higher
On Current 3mA or higher
Off Voltage 6VDC or less
Off Current 1mA or less
Input Resistance About 4.7 kΩ
Response Off → On 0.5/1/3/5/10/20/70/100 ms (set by I/O parameter)
Time On → Off Default: 3ms
Insulation Pressure AC560Vrms / 3 cycle (altitude 2000m)
Insulation Resistance 10MΩ or more by MegOhmMeter
Common Method 8 point / COM Note: Red box highlights pins of the CPU inputs.

8-point 24VDC Input (Sink/Source Type) Circuit Configuration

I/O Direct
Circuit Configuration XMC Pin# Description
Variable
00 %IX0.0.0
01 %IX0.0.1
00
R 02 %IX0.0.2
03 %IX0.0.3
General Input
04 %IX0.0.4
R
05 %IX0.0.5

Internal 06 %IX0.0.6
Circuit 07 %IX0.0.7
07
COM –
Common
COM –
COM

COM

24VDC

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XMC Motion Controller

Digital Output Specifications

16-point Transistor Output (Sink Type) Specifications

Model XMC-E08A XMC-E16A XMC-E08A-DC XMC-E16A-DC
Output Point 16 points
Insulation Method Photocoupler Insulation
Rated Load Volage 12VDC / 24VDC
Operation Load Voltage
10.2–26.4 VDC
Range
Max. Load Current 0.5 A / 1 point, 2A / 1COM
Off Leakage Current 0.1 mA or less
Max. Inrush Current 4A / 10ms or less
Max. Voltage Drop when On 0.4 VDC or less
Over Voltage Protection Zener diode
Response Off → On 1ms or less
Time On → Off 1ms or less (rated load, resistive load)
Common Method 16 point / COM

External Voltage 12VDC / 24VDC ± 10% (ripple voltage 4 Vp-p or less)

Power Current 10mA or less (when connecting 24VDC) Note: Red box highlights pins of the CPU outputs.

16-point Transistor Output (Sink Type) Circuit Configuration

I/O Direct
Circuit Configuration XMC Pin# Description
Variable
00 %QX0.0.0
01 %QX0.0.1
02 %QX0.0.2
03 %QX0.0.3
00 L 04 %QX0.0.4
05 %QX0.0.5
R
06 %QX0.0.6
Internal
07 %QX0.0.7 General Output 0.5 A / pt
Circuit
08 %QX0.0.8
15
L 09 %QX0.0.9
10 %QX0.0.10
V+ 11 %QX0.0.11
12 %QX0.0.12
COM 13 %QX0.0.13
14 %QX0.0.14
12 / 24 VDC
15 %QX0.0.15
V+ – +24VDC from supply
COM – 0VDC from supply

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XMC Motion Controller

Example Wiring with iX7NH Servo
XMC-E 16A

+
DC 5V
Notes:
-

*Note1 1: Example wiring for 5V open collector encoder

Encoder1
5V 1 ENC1 A+ 2: Example wiring for 5V line driver encoder
A 2 ENC1 A- 3: When connecting more than 2 servo drives, connect first servo’s IN to the motion
B 3 ENC1 B+
controller’s OUT. For the other servos, connect previous servo’s OUT to the next
servo’s IN. Continue for each servo - the final servo in the chain does not need
Z 4 ENC1 B-
0V
anything connected to OUT.

IX7NHA004U-AD
Encoder2 *Note2
5V
A+ 19 ENC2 A+
A- 20 ENC2 A-
EtherCAT Ethernet Cable
B+ 21 ENC2 B+
OUT IN
B- 22 ENC2 B-
Z+
Z- OUT
0V
* Note 3
Connect next servo drive

Digital Input Digital Output

(DO1)
+24V IN 6 3.3kΩ 1 BRAKE

DC 24V (DI1)
POT 11 (DO2)
(DI2) 3 ALARM
NOT 12

HOME 7 (DI3)
(DO3)
4 READY
STOP 8 (DI4)

(DI5) 2 DOCOM
PCON 13
(DI6) ** ZSPD
GAIN2 14
** INPOS1
** TLMT
PCL **
** VLMT
NCL **
** INSPD
PROBE1 **
** WARN
PROBE2 **
** TGON
EMG **
** INPOS2
A-RST **
LVSF1 ** 9 AO
LVSF2 **
10 /AO
Upper level controller

SVON **
ABS-RESET ** 19 BO
ABS-RQ ** 20 /BO

Analog input 17 ZO
A-TLMT 15
Analog
torque limit
I/O 18 /ZO
AGND 5 16 GND

STO
Safety Function Input Safety Function Output
3.3kΩ
STO1- 3 7 EDM+

STO1+ 4 8 EDM-
3.3kΩ
STO2- 5

STO2+ 6
Analog Output
Analog 1 MONITOR 1
Monitor -10V ~+10V

2 MONITOR 2
-10V ~+10V

3, 4 AGND

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XMC Motion Controller

Example Wiring with PHOX Servo
XMC-E 16A

+
DC 5V
Notes:
-

*Note1 1: Example wiring for 5V open collector encoder

Encoder1
5V 1 ENC1 A+
2: Example wiring for 5V line driver encoder
A 2 ENC1 A- 3: When connecting more than 2 servo drives, connect first servo’s IN to the motion
B 3 ENC1 B+ controller’s OUT. For the other servos, connect previous servo’s OUT to the next
Z 4 ENC1 B- servo’s IN. Continue for each servo - the final servo in the chain does not need
0V anything connected to OUT.

Encoder2
5V
*Note2
PHOX-03-080NS-AD
A+ 19 ENC2 A+
A- 20 ENC2 A-
EtherCAT Ethernet Cable
B+ 21 ENC2 B+
OUT IN
B- 22 ENC2 B-
Z+
Z- OUT
0V
* Note 3
Connect next servo drive

Digital Input
Digital Output
(DO1)
DICOM 10 15 BRAKE
3.92kΩ
DC 24V
(DI1)
POT /11 (DO2)
16 ALARM
(DI2)
NOT /12
(DI3)
HOME /13
(DO3)
(DI4) 17 READY
STOP /14
+
24VDC
A-RST
START
**
**
(DO4)
18 ZSPD
-
REGT **
25 DOCOM
EMG **
HSTART **
43 INPOS1
SVON **
** ORG
ISEL0 **
** EOS
ISEL1 **
** TGON
ISEL2 **
** TLMT
ISEL3 **
** VLMT
ISEL4 **
** INSPD
ISEL5 **
** WARN
PCON **
** INPOS2
GAIN2 **
** IOUT0
PCL **
** IOUT1
NCL **
** IOUT2
SPD1 **
** IOUT3
SPD2 **
** IOUT4
SPD3 **
** IOUT5
MODE **
PAUSE **
ABS_RQ **
JSTART **
I/O
JDIR **
PCLR **
AOVR **
PROBE1 **
PROBE2 **

Note: Line Driver output 30mA max Line Driver

19 AO
PF+ 1
Upper Level Controller

20 /AO
PF- 2
Upper Line Driver 21 BO
Level PR+ 3
Controller
22 /BO
PR- 4
23 ZO

-10V~+10V 24 /ZO
AI+ 6
Analog Input
AI- 7

Analog Output
8 AO1
-10V ~+10V
5 AGND

9 AO2
-10V ~+10V
5 AGND

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XMC Motion Controller

Mounting the Motion Controller
When mounting the completed XMC controller to your structure, keep the distances shown in the diagram
below to maintain proper ventilation and allow easy detachment and attachment.

30 mm Additional Clearance Distances:

or more • Wire duct on the side requires 5mm
or more
• Panel wall on the side requires 20mm
or more
20 mm • Another device on the side requires
or more 50mm or more
• Another device in front requires
30 mm 100mm or more
or more

DIN Rail Mounting

The motion controller has a hook for DIN rail mounting
(35mm). To mount to DIN rail:
• Pull the hook as shown below at the bottom of module
and install it at the DIN rail.
• Push the hook to fix the module to the rail after installing.

OK

AIRFLOW

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XMC Motion Controller

Motion Function Blocks
MC function blocks are compliant to the PLCopen standard.

Single-axis Command Multi-axis Command

Single-axis Command Function Multi-axis Command Function
MC_Power Servo On/Off MC_CamIn Activate master-slave coupling with CAM profile
MC_Home Perform the homing procedure MC_CamOut Deactivate master-slave CAM coupling
MC_Stop Stop motion and cancel ongoing commands MC_GearIn Activate master-slave linear coupling (gearing)
MC_Halt Stop motion MC_GearInEx Activate master-slave gearing with larger value ratios
MC_MoveAbsolute Absolute positioning operation MC_GearOut Deactivate master-slave linear coupling (gearing)
Activates master-slave coupling with a specific positional
MC_MoveRelative Relative positioning operation MC_GearInPos relationship
MC_MoveAdditive Additive positioning operation MC_HomeAll Perform homing operation for all axes
MC_MoveVelocity Velocity operation Provides a constant phase shift between master and slave
MC_Phasing axis
MC_SyncMoveVelocity Cyclic Synchronous Velocity control Servo ON/OFF for all axes
MC_PowerAll
MC_MoveContinuousAbsolute Absolute position operation ending with velocity operation MC_Reset2All Reset all axes errors
MC_MoveContinuousRelative Relative position operation ending with velocity operation MC_SetPositionAll Set all axes current position
MC_StopAll Stop motion for all axes
MC_TorqueControl Torque control
MC_ReadParameter Read Parameter
MC_WriteParameter Write Parameter LS Custom Function Blocks
MC_Reset Reset axis error
LS Command Function
MC_TouchProbe Touch probe and Position Registration
LS_Connect Connect EtherCAT network
MC_AbortTrigger Abort trigger events
LS_Disconnect Disconnect EtherCAT network
MC_MoveSuperImposed SuperImposed operation
LS_ReadSDO Read slave SDO data
MC_HaltSuperImposed SuperImposed operation halt
LS_WriteSDO Write slave SDO data
MC_SetPosition Setting the current position
LS_SaveSDO Save slave SDO data
MC_SetOverride Velocity/Acceleration override
LS_EncoderPreset Setting encoder current position
LS_Jog JOG operation

Axis Group Command LS_ReadCamData Read CAM data

LS_WriteCamData Write CAM data
Axis Group Command Function
LS_ReadEsc Read ESC
MC_AddAxisToGroup Adds one axis to a group
LS_WriteEsc Write ESC
MC_RemoveAxisFromGroup Removes one axis from a group
LS_CamSkip Skip CAM
MC_UngroupAllAxes Removes all axes from the group
Changes the state for a group from GroupDisabled to LS_VarCamIn Variable CAM operation
MC_GroupEnable GroupEnable LS_VarGearIn Variable gear operation
MC_GroupDisable Changes the state for a group to GroupDisabled
LS_VarGearInPos Variable positioning gear operation
MC_GroupPower Servo ON/OFF for all axes in a group
LS_ReadCAMtableSlavePos Read the slave location of the CAM table
MC_GroupHome The AxesGroup to perform their homing procedure
LS_InverterWriteVel Write inverter speed
MC_GroupSetPosition Sets the Position of all axes in a group without moving
LS_InverterReadVel Read inverter speed
MC_GroupStop Stop a Group immediately
LS_InverterControl Write inverter control word
MC_GroupHalt Stop a Group
LS_InverterStatus1 Read inverter status 1
MC_GroupReset Reset a group error
LS_InverterStatus2 Read inverter status 2
MC_MoveLinearAbsolute Absolute positioning linear interpolation operation
LS_SyncMoveVelocity Speed control operation (csv mode)
MC_MoveLinearRelative Relative positioning linear interpolation operation
LS_SetWorkSpaceTransform Work space setting
MC_MoveCircularAbsolute Absolute positioning circular interpolation operation Time- linear interpolation operation for absolute position of
LS_MoveLinearTimeAbsolute coordinate system
MC_MoveCircularRelative Relative positioning circular interpolation operation
Time- linear interpolation operation for relative position of
Sets a kinematic transformation between the ACS and LS_MoveLinearTimeRelative coordinate system
MC_SetKinTransform MCS
LS_RobotJOG JOG operation of the coordinate system
Sets a Cartesian transformation between the MCS and
MC_SetCartesianTransform PCS. LS_SetMovePath Set path operation data
Circular interpolation operation for absolute position of LS_ResetMovePath Delete path operation data
MC_MoveCircularAbsolute2D coordinate system
Circular interpolation operation for relative position of LS_GetMovePath Read path operation data
MC_MoveCircularRelative2D coordinate system LS_RunMovePath Perform path operation
MC_TrackConveyorBelt Synchronization setting with a conveyor belt
LS_RotaryKnifeCamGen Rotary knife cam profile generation
MC_TrackRotaryTable Synchronization setting with a rotary table
LS_CrossSealCamGen Cross sealer cam profile generation

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XMC Motion Controller

CNC Control Codes and Commands

G-code M-code
G-code Function M-code Function
G00 Rapid positioning control M00 Program stop
G01 Linear interpolation feed control M01 Optional stop
G02 Clockwise circular / helical interpolation M02 Program END
G03 Counter clockwise circular / helical interpolation M03 Forward rotation of the main axis
G04 DWELL function M04 Reverse rotation of the main axis
G09 Exact Stop M05 Main axis stop
G17 Select the circular interpolation plane (XY plane) M06 Tool change
G18 Select the circular interpolation plane (ZX plane) M08 Coolant ON
G19 Select the circular interpolation plane (YZ plane) M09 Coolant OFF
G20 Inch input M30 End of the program
G21 Metric input M98 Auxiliary program call
G22 Stroke check function ON M99 End of the auxiliary program
G23 Stroke check function OFF
G27 Homing check
G28 Automatic homing
G29 Return at the auto-origin NC Command Function Blocks
G30 Automatic 2nd and 3rd homing NC Command Function
G31 Skip function NC_LoadProgram Specify NC program

G40 Cancel compensation of tool diameter NC_CycleStart Start automatic operation

G41 Compensate the tool diameter to the left NC_BlockControl Specify Block operation

G42 Compensate the tool diameter to the right NC_FeedHold Feed Hold

G43 Compensate the tool length in the direction of + NC_Emergency Emergency stop

G49 Cancel compensation of the tool length NC_Reset reset

G52 Set the local coordinate system NC_RapidTraverseOverride Rapid traverse override

Select the machine coordinate system NC_CuttingFeedOverride Cutting feed override

G53
Select the workpiece coordinate system 1 NC_SpindleOverride Spindle override
G54
Select the workpiece coordinate system 2 NC_Home Homing
G55
Select the workpiece coordinate system 3 NC_McodeComplete M Code operation completed
G56
NC_ScodeComplete S Code operation completed
G57 Selecting the workpiece coordinate system 4
NC_TcodeComplete T Code operation completed
G58 Selecting the workpiece coordinate system 5
NC_ReadParameter Read NC parameters
G59 Selecting the workpiece coordinate system 6
NC_WriteParameter Write NC parameters
G60 Single direction positioning
Note: See section 6.8 of the XMC User Manual for a complete list of all available
G90 Absolute command NC Command Function Blocks.
G91 Incremental command
G92 Set the workpiece coordinate system
G94 Feed mode command per minute
G95 Feed mode command per revolution
G107 Cylindrical interpolation mode setting
G112 Interpolation mode of the polar coordinate ON
G113 Interpolation mode of the polar coordinates OFF
Note: Please see section 9.3.2 of the XMC User Manual for a complete list of all
available G-codes.

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XMC Motion Controller

XG5000 PLC Programming and Motion Control
XG5000 is the only tool needed to deploy the XMC. It handles programming, motion control commands, manual commands, and status
monitoring.

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XMC Motion Controller

G-code Commands for Controlling CNC Equipment
Easily control CNC equipment such as packing and cutting machines with G-code commands.

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XMC Motion Controller

Innovative Control Function for Robot Control
Control various types of robots using group motion in coordinate systems such as Cartesian, Delta3, Delta3R, and Linear Delta.

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XMC Motion Controller

Example Motion Applications

Packaging Machine Application

Printing Machine Application

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XMC Accessories
XMC Motion Controller Replacement Terminals

Part Number Price Function Description Compatible With

LS Electric XMC terminal block, 6-pin spring clamp,
LS XMC Motion Controller I/O
XMC-CON-6P $9.00 replacement. For use with LS Electric XMC series
Connector, 6 Pole
programmable motion controllers.
XMC-E08A
LS Electric XMC terminal block, 8-pin spring clamp,
LS XMC Motion Controller I/O XMC-E08A-DC
XMC-CON-8P $10.00 replacement. For use with LS Electric XMC series
Connector, 8 Pole XMC-E16A
programmable motion controllers.
XMC-E16A-DC
LS Electric XMC terminal block, 10-pin spring clamp,
LS XMC Motion Controller I/O
XMC-CON-10P $14.00 replacement. For use with LS Electric XMC series
Connector, 10 Pole
programmable motion controllers.

XMC-CON-6P XMC-CON-8P XMC-CON-10P

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Controller Software
XG5000 and XG-PM Software for LS Electric Controllers
XG5000 is a powerful software suite for programming and configuring the XMC programable motion controller and the XGB PLC.
XG5000
Offers four languages from the IEC61131-3 PLC programming standard.
• Ladder Diagram (LD): includes many versatile function blocks, including advanced motion control
specific blocks, for convenience when programming complex systems.
• Structured Text (ST): a text based language which is a powerful tool for advanced motion
programming and data handling.
• Sequential Function Chart (SFC) and Instruction List (IL) are also supported by the XGB PLC.
The software uses Symbolic (also called Automatic) variables created by the user. These can be created as global or local task variables,
and can be aliased to direct variables. Variables can be imported/exported for quick editing in spreadsheet format.
Other features include User data types/function blocks, XY Trend for motion visualization, online system information, simulator, EDS file
library for EtherNet/IP communications, ESI file library for EtherCAT device configuration, and much more.
Motion Control Functions
XGB PLC Uses LS Electric's custom XPM motion function blocks.
XMC Motion Controller Uses PLCopen compliant motion function blocks and some custom LS Electric function blocks.

XG-PM (for XGB PLC only)

XG-PM Position control software is used to configure the axis parameters of the XGB PLC.
The Command Tool allows for quick testing, and online edits make maintenance changes
quick and easy. Access XG-PM from the XG5000 Main menu-> Tools ->Position Control.

XG-PM for XGB PLC Motion

Configuration

XG5000 Main Screen

Structured Text Editor

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Controller Software
XG5000 Software Setup
If using an XGB PLC, view the XG5000 overview topic in the LS PLC Interactive Guide here: Starting an XG5000 Project
If using an XMC Motion Controller, view the XG5000 overview topic in the XMC Interactive Guide here: Starting an XG5000 Project

1 Download and install

XG5000 software:
Download Software

2 Connect your processor

to a laptop using USB
XGB
PWR 0 1 2 3
XEM–DN32H2
4 5 6 7
OUT IN

8 9 A B C D E F
RUN

or Ethernet (XGB or
0 1 2 3 4 5 6 7
ERR 8 9 A B C D E F

XMC), or Serial cable

(XGB only). Default IP
USB Mini-B 20
19
20
19
18 18

address in the processor is

17 17
16
15
16
15 Example shown for
10/100 BASE–TX

192.168.250.120.
LINK

14 14
Ethernet 13
12
11
13
12
11
XGB PLC setup.
TX/RX

10 10
09 09
08 08
RS–485 07 07
Serial RS-232C 06 06
– 05 05
04 04
+ 03 03
SG 02 02
TX 01 01

RX
RS–232C

3 Open XG5000. From the

top menu select Project →
New Project. Add Project Name

Enter a project name,

choose your CPU, add a
Choose CPU
Series XGB(IEC)
program name, then click Choose CPU Type

OK to save. XEM-DxxxH2 or HP

Add Program Name

Example XGB Setup Example XMC Setup

4
(XGB Only)
Choose Parameter →
I/O Parameter from the
project menu bar.
Select a slot from the
bottom menu, then use
the drop down under
Module to add modules.
See the video under
Adding Modules for going
online and uploading I/O
configuration from your
rack.

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