Mitsubishi Electronics Q173HCPU manuel d'utilisation

MELSEC Q Series Motion Controllers Progr amming Manu al SV13/SV22 (REAL MODE) Q172 H CPU Q173 H CPU MITSUBI SHI ELECTRIC MITSUBI SHI ELECTRIC Art. no: 201815 IB(NA)-0300113-B 01092006 Version B INDUSTRIAL AUTOMATION[...]

A - 1 SAFETY PRECAUT IONS (Read these precautions before using.) When using this equip m en t, thoroughly read this manual and the associated manuals int roduced in this manual. Also pay careful a ttention to safety and handle the module properly. These precautions apply only to this equipment. Re f e r to the Q173HCPU/Q172HCPU Users m an ual f or [...]

A - 2 For Safe Op eration s 1. Prevention of electric shocks ! DANGER Never open the front case or terminal covers while t he power is ON or the unit is running, as this may lead to electr ic shocks. Never run the unit with the front case or term inal cover removed. The high voltage terminal and charged sections will be ex posed and may lead to ele[...]

A - 3 3. For injury prevention ! CAUTION Do not apply a volt age o ther than that specif ied in the inst ruction manual on any terminal. Doing so may lead to dest ruction or dam age. Do not mistake the terminal connections, as this ma y lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. [...]

A - 4 ! CAUTION The brakes (electromagnetic brakes) assembled into t he ser v om otor are for holding applic ations, and must not be used for normal braking. The system must have a mechanical all owance so that the machine itself can stop ev en if the stroke limits switch is passed through at the max. speed. Use wires and cables that hav e a wire d[...]

A - 5 ! CAUTION Set the sequence function program capacity setti ng, device capacity , latch validit y range, I/O assignment setting, and validity of continuous operation during error detection to v alues that are compatible with t he system application. The protective functions may not function if the settings are incorrect. Some devices used in t[...]

A - 6 ! CAUTION Securely fix the Motion controller and servo amplifier to the machine according t o the instruction manual. If the fixing is insufficient , these may come off during operation. Always install the servomotor w ith reduct ion gears in the designated direction. Failin g to do so may lead to oil lea ks. Store and use the unit in the fol[...]

A - 7 (4) W iring ! CAUTION Correctly and securely wire the wires. Reconfirm the connect ions f or mista k es and t he terminal screws for tightness after wiring. Failing to do so may lead t o run away of the servomotor. After wiring, install the protectiv e cov ers such as the terminal covers to the original positions. Do not install a phase advan[...]

A - 8 (6) Us a ge methods ! CAUTION Immediately t urn OFF the power if smoke, abnor m al sounds or odors are em itted from the Mot ion controller, servo amplifier or servomotor. Always execut e a test operation before star ting actual operations after the program or parameters have been changed or after maintenance and inspect ion. The units must b[...]

A - 9 ! CAUTION If an error occurs, remo v e the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a pow er failure is restored, so do not go near the machine. (Design t he machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Mai ntenance, inspe[...]

A - 10 (9) About processi ng of waste W hen you discar d Mot ion contr oller, s ervo am plifier , a batter y (prim ary batt ery) a nd other option articles , pleas e follo w the law of eac h countr y (area). ! CAUTION This product is not designed or manufactured to be used in equipme nt or systems in situations that can affect or endanger human lif[...]

A - 11 REVI SIONS The manual number is given on the bottom left of the bac k cover. Pri nt Da te Manual Num ber Revision Jun., 2005 IB(NA)-03 00113-A First edi tion Sep., 20 06 IB(NA)-03 00113- B [Addit ional model] Q61P, MR- J3- B(Lar ge capacit y), MR-J3- B-RJ006 [Addit ional funct ion] Control l oop changin g comm and, Control loop m onitor stat[...]

A - 12 INTRODUCT ION Thank you for choos ing the Q173HC PU/Q172HCPU Motion Contr oller. Please r ead this m anual caref ully so that eq uipm ent is used to its o ptimum . CONTENT S Safet y Precautio ns ............................................................................................................. ............................ A- 1 Revi[...]

A - 13 4.3.3 A llowa ble error r ange f o r circ ular inter polation ......................................................................... ........ 4-14 5. SERVO PROGRAM S FO R P O SITIONING CONTROL 5- 1 to 5-24 5.1 Ser vo Progr am Composit io n Are a............................................................................................. .[...]

A - 14 6.17.7 FI N signa l wait func tion ................................................................................................ ................. 6-150 6.18 Pos ition Follo w-Up Contro l ................................................................................................ .................. 6-15 9 6.19 Sp eed contr ol with f i[...]

A - 15 APPEND IX 3.2 R eading err or code ................................................................................................ .......App-4 9 APPEN DIX 4 Sett ing Range for Indirect S etting Dev ices.........................................................................A pp-51 APPEN DIX 5 Process ing Ti me s of the Motion CPU ........[...]

A - 16 About Ma nuals The f ollowing m anuals are r elated to this product. Referring to this list, please r equest the neces sary manua ls. Related Ma nuals (1) Motion c ontroller Manual N ame Manual N umber (Model C ode) Q173HCPU / Q172HC P U M otio n controller User's M anual This manual expl ains specif ications of t he Motion CPU modul es[...]

A - 17 (2) PLC Manual N ame Manual N umber (Model C ode) QCPU User's Manual (H ard w ar e Design, M aintenance and Inspection) This manual expl ains the spec ifications of the QCPU modules, pow er s upply modules, base modules, extension c ables, memory c ard battery and othe rs. (Optional) SH-080483ENG (13JR73) QCPU User's Manual (Functi[...]

A - 18 MEMO[...]

1 - 1 1 OVERVIE W 1 1. OVERVIEW 1.1 Overv iew This program ming m anual describ es the positi oning c ontrol param eters, p osition ing dedic ated de vices an d posit ioning m ethod r equir ed to ex ecute pos itioni ng contr ol in th e Motion c ontro ller (S V13/22 r eal mode) . The f ollowing positi oning co ntrol is possib le in t he Motio n cont[...]

1 - 2 1 OVERVIE W Generic term/Abbreviation Description A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cabl e Abbreviation for "Cable for SSC I/F board/card" Teaching Unit or A31TU-D3K /A3 1TU-DNK A31TU-D3 /A31TU-DN Teaching unit ( Note-3) Intelligent function module Abbreviation for "MELSECNET/H module/ Ethernet m[...]

1 - 3 1 OVERVIE W 1.2 Features 1.2.1 Performance Specifications (1) Moti on control specif ic ations Item Q173 HCPU Q173 HCPU-T Q172HCPU Q172HCPU- T Number of control ax es Up to 32 ax es Up to 8 axes SV13 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 ax es 1.77ms/11 to 20 ax es 3.55ms/21 to 32 ax es 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 8 axes Operation cycle (d[...]

1 - 4 1 OVERVIE W Motion control speci f icati ons (continued) Item Q173 HCPU Q173HCPU- T Q172HCPU Q172HCPU- T Number of SSCNET systems (Note-1) 2 sy stems 1 system Q172LX : 4 modules us able Q172LX : 1 module usable Q172EX : 6 modules usable Q172EX : 4 modules usable Motion related interface module Q173PX : 4 modules usable (Note-2) Q173PX : 3 mod[...]

1 - 5 1 OVERVIE W 1.2.2 Di ff erences between Q 173HCPU /Q172 HCPU and Q173CPU (N)/Q172CPU(N) (1 ) Differenc es betw een Q 173 HCP U/Q1 72HC PU a nd Q173CPU(N )/Q172CPU(N) Item Q173HCP U Q172HCPU Q173CPU(N) Q172CPU(N) Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 a xes SV13 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 ax es 1.77m s[...]

1 - 6 1 OVERVIE W MEM O[...]

2 - 1 2 POSITIONING CONTROL BY THE MOTION CPU 2 2. POSITI ONING C ONTROL B Y THE MOTION CPU 2.1 Positioning Control by the Motion CPU The pos ition ing contr ol of u p to 32 ax es in Q 173H CPU and up to 8 axes i n Q172HC PU is pos sible in the M otion C PU. There ar e fo llowing f our f unctions as contr ols to ward the s ervo am plifier /ser vomo[...]

2 - 2 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the Mot ion SFC pr ogram start (S( P).SFC S instr uction)] Posit ioning c ontrol is exec uted b y start ing the M otion SFC progr am s pecified with S(P).SF CS instr uctio n of the PLC CPU in the Mo tion CP U. (The Motion SFC progra m can als o be s tarted autom aticall y b y param eter s[...]

2 - 3 2 POSITIONING CONTROL BY THE MOTION CPU Servo amp lifier Servomotor Motion CPU Motion SFC program No.15 (Program No. specified wi th the S(P).SFCS instruction.) System settings Fixed parameters Servo parameters Parameters block Home position return data JOG operat ion data Limit switch outp ut data System data suc h as axis allocations Fixed [...]

2 - 4 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the po sitio ning con trol (M otion SFC pr ogram )] The pos ition ing co ntrol is execut ed us ing the servo program specif ied wit h the Motio n SFC progr am in the Mot ion CPU syst em. An over view of th e position ing control is sho wn below. Motion CPU contr ol s ystem Motion SFC prog[...]

2 - 5 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifie r Servo motor Servo instruction (Sp ecifi cation of the po sition ing co ntrol me thod) Posi tioning data whi ch must be set: Axis us ed, po sitioning addre ss and positioning speed, e tc. Posi tioning data to be set if required : Dwell ti me, M-code, etc. <K 100> ABS-1 Axis Speed D[...]

2 - 6 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the ser vo progr am star t (S(P). SVST ins truc tion)] Posit ioning c ontrol is exec uted b y start ing the s pecifi ed servo pr ogram toward the ax is specif ied wit h S(P) .SVST in structi on of PLC CPU in the Motion C PU. An over view of the st arting method us ing the s ervo program i[...]

2 - 7 2 POSITIONING CONTROL BY THE MOTION CPU Servo progra m . . . . . Set and correct using a pe ripheral device (Note-1) <K 25 > Servo program No.25 (Servo program No. s pecified with the S ( P ).SVST instruction.) 2 axes linear interpolation control Axis 3 . . . . . . 50000 Axis used . . . . . . . . . . . A xis 3, Axis 4 Travel value to st[...]

2 - 8 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the JOG operat ion] JOG oper ation of s pecifi ed axis is exec uted usin g the Motion SF C progr am in the Motion CPU. JO G operat ion c an also be execut ed b y c ontro lling the J OG d edicated devic e of specif ied axis. An over view of JO G operation is shown bel ow. Motion CPU contr [...]

2 - 9 2 POSITIONING CONTROL BY THE MOTION CPU Positio ning control para meter . . . . . Servo am plifier Servom otor System sett ings Fixed parame ters Servo par ameters Paramet er block Home position return data JOG oper ation data Limit switch output data Set an d corre ct using a peripher al device (N ote-1) System data such as axis allocati ons[...]

2 - 10 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual P ulse Generat or Operatio n] W hen the posit ionin g contr ol is ex ecuted by the m anual pulse ge nerat or connec ted t o the Q1 73PX, m anual pulse ge nerator operat ion m ust be ena bled us ing the Motion SFC pro gram. An over view of m anual pulse g enera tor opera tion is shown [...]

2 - 11 2 POSITIONING CONTROL BY THE MOTION CPU Servo ampli f ier Servomoto r Positi oning control p arameter . . . . . Syst em settin gs Fixed parameters Servo parameters Par ameter bl ock Home position r eturn da ta JOG op eratio n data Limit s witch output data Manual pulse generator Set an d correct usin g a peripheral de vice (Note-1) System da[...]

2 - 12 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positi onin g contr ol parameters There ar e fo llowing s even t ypes as position ing con trol param eters. Param eter dat a can be set and corr ected in teracti vely u sing a p eriphera l de vic e. Item Description Reference 1 Sy stem settings Multiple system settin gs, Motion modules and ax is No[...]

2 - 13 2 POSITIONING CONTROL BY THE MOTION CPU (3) Motio n SFC pro gram Motion SFC pr ogram is used t o execu te the op eration s equenc e or trans itio n contr ol com bining " Start", "Step", Transi tion", or "End" t o the ser vo pr ogram . The pos ition ing contr ol, JO G opera tion a nd manua l pul se generat o[...]

2 - 14 2 POSITIONING CONTROL BY THE MOTION CPU MEM O[...]

3 - 1 3 POSITIONING DEDICATED SIGNALS 3. POSITIONING DEDICATED SIGNALS The in ternal s i gnals of the Moti on CPU an d the exte r n al signals to the Motion C PU are used as positioni ng signals. (1) Internal signals The followin g five d evices of t he Motio n CPU a re used as the intern al sign als of the Motion C PU. • Inter nal rela y (M) ...[...]

3 - 2 3 POSITIONING DEDICATED SIGNALS The p ositioning d edicated devi ces are shown bel ow. It indic ates t he dev ice refres h c y c le of the Motio n CPU for status s ignal wi th the posit ioning c ontrol, and th e device f etch c ycle of the Moti on CPU f or comm and sign al with th e positi oning c ontrol. The op eration cycle of the Motion C [...]

3 - 3 3 POSITIONING DEDICATED SIGNALS Internal relay li st (Continued) SV13 SV 22 Device No. Purpos e Device No. Purpos e M3840 to Unusable (Note) (160 points ) M4000 to User device (Note) (640 points ) M4640 to Synchronous enc oder axis st atus (4 points 12 axes) M4688 M 3 840 to Unusable (Note) (112 points ) M4800 to to User device (Note) (640 po[...]

3 - 4 3 POSITIONING DEDICATED SIGNALS (2) Axis stat us list Axis No. Device No. S ignal name 1 M 240 0 to M2419 2 M 242 0 to M2439 3 M 244 0 to M2459 Signal name Refresh cycle Fetch cycle Signal direct ion 4 M 246 0 to M2479 0 P ositioning s tart complete 5 M 248 0 to M2499 1 P ositioning c o m plete 6 M 250 0 to M2519 2 I n-position 7 M 252 0 to M[...]

3 - 5 3 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Devic e No. Signal nam e 1 M3200 t o M3219 2 M3220 t o M3239 3 M3240 t o M3259 Signal name Refresh cyc le Fetch cyc le Signal directi on 4 M3 260 to M 3279 0 Stop c o m mand 5 M3 280 to M 3299 1 Rapid s top command Operation cyc le 6 M3300 t o M3319 2 F orwa rd rot ati on J[...]

3 - 6 3 POSITIONING DEDICATED SIGNALS (4) Common dev ice list De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No. Signal nam e Refr es h cycle F etch cycle Signal direct ion Remark (Note-5) M2000 PLC r eady flag Main cycle Command signal (Note-4) M3072 M2053 Manual pul se generator 3 enable f lag Main [...]

3 - 7 3 POSITIONING DEDICATED SIGNALS Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No. Signal nam e Re fresh cycle F etch cycle Signal direct ion Remark (Note-5) M2119 M2180 Main shaf t side M2120 M2121 M2181 Output axi s 11 Auxil iary input side M2122 M2182 Main shaf[...]

3 - 8 3 POSITIONING DEDICATED SIGNALS Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No. Signal nam e Refres h cycle Fetch cycle S ignal direct ion Remark (Note-5) M2229 M2276 Axis 5 M2230 M2277 Axis 6 M2231 M2278 Axis 7 M2232 M2279 Axis 8 M2233 M2280 Axis 9 M2234 M2281[...]

3 - 9 3 POSITIONING DEDICATED SIGNALS Expl anation o f the request r egi ster No. Function Bit devic e Request regist er 1 PLC ready flag M2000 D704 2 Speed switchi ng point specif ied flag M2040 D705 3 All axes servo ON c ommand M2042 D706 4 Real/virtu al mode switc hing request (SV 22) M2043 D707 5 JOG operation s imultaneous start comm and M2048[...]

3 - 10 3 POSITIONING DEDICATED SIGNALS (5) Special relay allocated device l ist (Status) Device No. Signal nam e Ref resh cycle Fetch c ycle Signal direc tion Rem ark (Note) M2320 Fuse bl own detection M9000 M2321 AC/ DC DOWN detect ion M90 05 M2322 Batt ery low M90 06 M2323 Bat tery low latch M90 07 M2324 Self -diagnostic error M9008 M2325 Diagnos[...]

3 - 11 3 POSITIONING DEDICATED SIGNALS (6) Common dev ice list (Command si gnal) Device No. Signal nam e Refresh cycle Fetc h cycle Signal direction Remark (Note-1), (Note-2) M3072 PLC ready f lag Mai n cycle M20 00 M3073 Speed s w it ching point s pecified fl ag At start M2040 M3074 All ax es servo ON comm and Operat ion cycle M2042 M3075 Real/ vi[...]

3 - 12 3 POSITIONING DEDICATED SIGNALS 3.1.1 Axis s tatu ses (1) Positioning start complete signal (M 2 400+20n) .......... Status sig nal (a) T his sign al turns on wit h the s tart com pletion for th e positi oning c ontrol of the axis spe cified w ith th e servo progra m . It does not tu rn on at the s tarting using JOG operation or manua l puls[...]

3 - 13 3 POSITIONING DEDICATED SIGNALS (2) Positi onin g compl ete signal (M2401+20n) .................. Status signal (a) T his sign al turns on wit h the c ompleti on for th e posi tioning c ontrol of the axi s specified with the se rvo program . It does not tur n on at th e star t or stop o n the way usin g hom e position ret urn, JOG operation,[...]

3 - 14 3 POSITIONING DEDICATED SIGNALS (b) An in- positio n check is per form ed in th e follo wing c ases. • W hen the ser vo power suppl y is turn ed on. • Aft er the a utomatic decele ration is starte d durin g positi oning co ntrol. • Aft er the d ecelerati on is s tarted with th e JOG st art signa l OFF. • Duri ng the m anual pu lse ge[...]

3 - 15 3 POSITIONING DEDICATED SIGNALS (b) T his si gnal tur ns off at the po wer sup ply on and dur ing pos ition c ont ro l. At speed/pos ition switching con trol At speed control At position con trol Speed/ position control start CHANGE Speed con trol start Positi oning start Speed contr olling signal (M2404+ 20n) Speed control Position control [...]

3 - 16 3 POSITIONING DEDICATED SIGNALS (8) Err o r detection si gnal (M2407+20n) ............................ Status sig nal (a) T his si gnal tur ns on with det ection of a m inor error or m ajor err or, and it is used as judgem ent of th e err or availa ble/no t availab le. The ap plicab le err or code (Note- 1) is s tored i n the m inor er ror c[...]

3 - 17 3 POSITIONING DEDICATED SIGNALS (10) Home posi tion return req uest signal (M2409+20n) .........................Status signal This s ignal turns on when it is nec essar y to confirm the home posit ion addres s. (a) W hen not using an absol ute posi tion s y s tem 1) Thi s signal tu r n s on in the follow ing cases: • Motio n CPU po wer sup[...]

3 - 18 3 POSITIONING DEDICATED SIGNALS (12) FLS sig nal (M2411+20n) (Note-1) ................................... Status signal (a) This signal is cont rolled by the ON /OFF state for the upper st r oke limit switc h input (FLS) of the Q 172LX /servo amplif ier. • Upp er stroke limit s witch input OFF . ..... FL S signa l: ON • Upp er stroke lim[...]

3 - 19 3 POSITIONING DEDICATED SIGNALS 2) Ser vo amplif ier input us e (Note-3) RLS signal : ON RLS DI2 DICOM RLS signal : OFF RLS DI2 DICOM MR-J3- B MR-J3- B (Note-1): Refer to the "Q173HCP U/Q172HCPU Mot ion controlle r Programm ing Manual (COMMON)" for an e xternal signal. (Note-2): Refer to the "Q173HCP U/Q172HCPU User’ s Manua[...]

3 - 20 3 POSITIONING DEDICATED SIGNALS 2) Ser vo amplif ier input us e (Note-3) DOG/CHA NGE signal : ON DOG/CHANGE DI3 DICOM DOG/CHANGE signal : OFF DOG/CHANGE DI3 DICOM MR-J3- B MR-J3- B (Note-1): Refer to the "Q173HCP U/Q172HCPU Mot ion controlle r Programm ing Manual (COMMON)" for an e xternal signal. (Note-2): Refer to the "Q173H[...]

3 - 21 3 POSITIONING DEDICATED SIGNALS (18) M- code outputting signal (M 2419+20n) ..................... Status signal (a) T his sign al turns durin g M-co de is ou tputting. (b) T his sign al turns off wh en the s top com mand, c ancel s ignal, sk ip sig nal or FIN signal a re inpu tted. FIN signal ( M321 9+20n ) M-code M-code outp utti ng sign al[...]

3 - 22 3 POSITIONING DEDICATED SIGNALS 3.1.2 Axis command signals (1) Stop comma nd (M3200+ 20n) ............................... Command signal (a) T his com mand st ops a s tarting ax is from an exter nal s ource an d becom es eff ective at th e turn ing signa l off to on. (An axis f or which the st op comm and is tur ning on canno t be s tarted.)[...]

3 - 23 3 POSITIONING DEDICATED SIGNALS (2) Rapi d stop command (M3201+20n) ..................... Command sig nal (a) T his com mand is a sign al whic h stop a start ing axis rapid ly from an exter nal source and bec omes effective when t he sign al turns off to on. (An ax is for which the rap id stop c ommand turns o n cannot be star ted.) Rapi d s[...]

3 - 24 3 POSITIONING DEDICATED SIGNALS (3) Forw a rd r otation JOG start command (M3202+20n) /Reverse rotation JOG start command ( M3203+20n) ......... Command sig nal (a) JO G oper ation t o the a ddress i ncrease direct ion is execute d while f orwar d rotati on JOG s tart com mand (M 3202+ 20n) is t urning on. W hen M3202+20 n is t urned of f, a[...]

3 - 25 3 POSITIONING DEDICATED SIGNALS (5) Speed/position swi tching enable command ( M3205+20n) ......... Command signal (a) T his com mand is used to mak e the CHANG E si gnal (sp eed/pos ition switc hing si gnal) ef fective f rom an externa l source. • ON . ......... Control s witches from speed contr ol to po sition co ntrol wh en the CHANG E[...]

3 - 26 3 POSITIONING DEDICATED SIGNALS REMARK Refer t o APPEN DIX 1 for detai ls on the m inor err or code, m ajor err or code and servo er ror co de stor age re gisters. (8) External stop input di sa ble at start comma nd (M3209+20n) ....................... Command signal This signal is use d to set the exter nal stop s ignal input valid or i nval[...]

3 - 27 3 POSITIONING DEDICATED SIGNALS (11) Gain chang ing command (M3216+20n) ............. Command signal This signal is use d to change th e gain of s ervo am plifier in the Motion controller by the gai n changin g comm and ON/OFF. • ON .......... Gain c hanging com mand ON • OFF .......... Gain ch anging com mand OFF Refer to the "MR-J[...]

3 - 28 3 POSITIONING DEDICATED SIGNALS (13) FIN sig nal (M3219+20n) .................................... Command sig nal W hen a M-code is set in a s ervo pro gram, tr ansit to the next block do es not execu te until the FIN s ignal changes as foll ows: OFF ON OFF. Posit ioning t o the nex t block begins after t he FIN si gnal c hanges as above. It[...]

3 - 29 3 POSITIONING DEDICATED SIGNALS 3.1.3 Common dev ices POINTS (1) I nternal r elays f or pos itioning contro l are no t latche d even within t he latc h range. In th is manua l, in order t o indic ate that intern al rela ys for positio ning c ontrol are not latc hed, th e expres sion used in this tex t is "M 2000 t o M2319 ". (2) T [...]

3 - 30 3 POSITIONING DEDICATED SIGNALS 3) The process ing in above (c) 1) is not exec uted during the test m ode. It is execut ed when the test mode is c ancelle d and M2000 is ON. PLC read y flag (M 2000) PCPU READY co mplete fla g (M 9074) Clear a M-code V Positioning start Decele ration stop OFF OFF ON ON PCPU READY complete flag (M9074 ) does n[...]

3 - 31 3 POSITIONING DEDICATED SIGNALS The c onditio n which M2000 is turned O N to O FF. • Set " 0" to t he setti ng regis ter D 704 of the PLC r eady fl ag where the RUN/STOP s witch is m oved to RU N. (The M otion CPU detects t he change of the lowest r ank bit 1 0 i n D704.) • Move th e RUN/STOP s witch fr om RUN to STOP. (2) Star[...]

3 - 32 3 POSITIONING DEDICATED SIGNALS The s tart acc ept fla g list is sho wn belo w. Axis No. Devi ce No. Axis No. Device No. Axis No . Device N o. Axis No. Devi ce No. 1 M2 001 9 M2 009 17 M20 17 25 M2025 2 M2 002 10 M20 10 18 M2018 26 M20 26 3 M2 003 11 M20 11 19 M2019 27 M20 27 4 M2 004 12 M20 12 20 M2020 28 M20 28 5 M2 005 13 M20 13 21 M2021 [...]

3 - 33 3 POSITIONING DEDICATED SIGNALS (6) Speed sw itching point specified flag (M2040) ...... C ommand signal This flag is used wh en the s peed cha nge is s pecifi ed at the pass point of the const ant spee d contr ol. (a) By tu rning M2040 on be fore the st arting of th e constant spe ed control (before the s ervo pro gram is s tarted) , contro[...]

3 - 34 3 POSITIONING DEDICATED SIGNALS (8) All a xes serv o ON command ( M2042) .................. Command sig nal This comm and is us ed to en able ser vo opera tion. (a) Ser vo oper ation e nabled … M204 2 turns o n while t he ser vo OFF c omm and (M321 5+20n) is off and ther e is no servo err or. (b) Ser vo oper ation d isable ...... • M2042[...]

3 - 35 3 POSITIONING DEDICATED SIGNALS (11) All a xes serv o ON accept f lag (M2049) .................... Status si gnal This f lag turns on w h en the Motion C PU accep ts the a ll axes servo O N comm and (M204 2). Since the ser vo rea dy state of eac h axis is not c hecked, confir m it in the s ervo read y s ignal (M2415 +20n). OFF ON OFF ON ON O[...]

3 - 36 3 POSITIONING DEDICATED SIGNALS (14) Speed chang ing flag (M2061 to M2092) ................... Status signal This f lag turns on d uring sp eed chan ge b y the contr ol chang e (CHGV) instr uction (or Motio n dedic ated P LC instr uction (S(P).C HGV)) of the Mo tion SFC pro gram. CHGV instruction Speed chan ging flag Setting speed OFF ON Spe[...]

3 - 37 3 POSITIONING DEDICATED SIGNALS (15) Automatic decel erating flag (M 2128 to M2159) ......... Status signal This si gnal turn s on while auto m at ic decele r ati on processi ng is perfor m ed at the p ositionin g contr ol or posit ion fol low-up c ontro l. (a) Thi s flag tur ns on during automati c decelerati on processin g to the comm and [...]

3 - 38 3 POSITIONING DEDICATED SIGNALS (16) Speed chang e " 0" accepting flag ( M2240 to M2271) ....………. Status signal This fl ag turn s o n w hile a speed cha nge request to speed "0" or negative speed ch ange is bei ng accepted. It turns on w hen th e speed ch ange r equest t o speed " 0" or negati ve speed cha[...]

3 - 39 3 POSITIONING DEDICATED SIGNALS (a) T he flag t urns of f if a s peed c hange r equest occurs during d ecelerat ion to a stop d ue to spe ed chan ge " 0". Start acc ept flag Speed chan ge " 0 " accepti ng flag OFF ON V V 1 V 2 t Speed cha nge "0" Speed chan ge V 2 (b) T he flag t urns of f if a st op caus e occu[...]

3 - 40 3 POSITIONING DEDICATED SIGNALS (d) E ven if i t is sp eed chan ge "0" after the aut omatic deceler ation s tart to the "comm and address ", s peed cha nge "0" accepting flag turns on. Start acce pt flag Speed ch ange "0" accepting flag V t Speed chan ge "0" Automatic de c e leration start Sp[...]

3 - 41 3 POSITIONING DEDICATED SIGNALS (17) Contr ol loop monitor status (M2272 to M2303) ............................... Command signal W hen using the ful ly closed loop contro l servo am plifier , this signa l is used t o check the fully clos ed loop c ontrol/sem i closed loop c ontrol of servo am plifier. • ON .......... Dur ing full y cl ose[...]

3 - 42 3 POSITIONING DEDICATED SIGNALS 3.2 Data Regi sters (1) Data register list SV13 SV 22 Device No. Appl ication Devi ce No. A pplication D0 D0 to Axis moni tor device (20 points 32 axes) to Axis moni tor device (20 points 32 axes) Real mode……eac h ax is Virtual m ode….output modul e D640 D640 to Control chang e register (2 points 32 axes[...]

3 - 43 3 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 Signal name Refresh cycle Fetch cycle Unit Signal directi on 4 D60 to D79 0 5 D80 to D99 1 Feed current value 6 D100 t o D119 2 7 D120 t o D139 3 Real current value Comm and unit 8 D140 t o D159 4 9 D160 t o D179[...]

3 - 44 3 POSITIONING DEDICATED SIGNALS (3) Contr ol change register list Axis No. Devic e No. Signal nam e 1 D640, D641 2 D642, D643 3 D644, D645 Signal name Refresh cycle Fetc h cycle Unit Signal directi on 4 D646, D647 0 5 D648, D649 1 JOG speed s etting At start Command unit Comm and device 6 D650, D651 7 D652, D653 8 D654, D655 9 D656, D657 10 [...]

3 - 45 3 POSITIONING DEDICATED SIGNALS (4) Common dev ice list Device No. Signal name Refresh cycle Fe tch cycle Sign al direction Device No. Signal name Refresh cycle Fe tch cycle Sign al direction D704 PLC ready f lag request D752 Manual pulse generator 1 smoothing m agnification setting regi ster D705 Speed swi tching point specified flag req ue[...]

3 - 46 3 POSITIONING DEDICATED SIGNALS 3.2.1 Axis monitor devices The m onitoring d ata area is used by the Motion CPU to store data such as the fee d curren t value dur ing pos ition ing contr ol, the re al current va lue and the nu mber of droop pulses in the d eviatio n counter. It can be use d to c heck th e posit ioning cont rol state us ing t[...]

3 - 47 3 POSITIONING DEDICATED SIGNALS (5) Maj or e rr or code storag e register (D7+20n) ............. Monitor devi ce (a) This regi s te r stores the correspond ing error code (Refer to APPE NDIX 1.3) at the m ajor er ror occur renc e. If anoth er maj or error oc curs af ter err or code storing , the pr evious error c ode is o verwritt en b y t h[...]

3 - 48 3 POSITIONING DEDICATED SIGNALS (9) Execute prog ram No. storage register (D12+20n) ....…….. Monitor device (a) T his regis ter st ores th e startin g progr am No. at the ser vo progr am star ting. (b) T he fol lowing value is stor ed in th e JOG operat ion an d manu al puls e genera tor oper ation. 1) JOG oper ation........ ............[...]

3 - 49 3 POSITIONING DEDICATED SIGNALS (12) Data set poi nter for constant-speed control (D15+20n) ....…….. Monitor device This pointer is used in the c onstan t-speed contro l when s pecif y i ng posi tioning data in directl y and subst ituting posit ionin g d ata dur ing opera tion. It stores a " point " that indic ates wh ich of th[...]

3 - 50 3 POSITIONING DEDICATED SIGNALS [Input s ituatio n of pos itioni ng dat a in the Motion C PU] Update of da ta using the M otion SFC program Positioning data input to the M otionCPU at each point (A) (B) (C) (D) (A) (B) (C) (D) 0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 0 1 2 3 4 5 6 7 (1) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (16[...]

3 - 51 3 POSITIONING DEDICATED SIGNALS [Intern al proces sing] (a) The positi oning data ((1) to (14)) of p oints 0 to 6 is inp ut to the Moti on CPU by the s tartin g. The last poi nt "6" of the i nput dat a to be input is stored in the data s et poin ter for c onstant -speed co ntrol a t this time. The " 6" stor ed in t he dat[...]

3 - 52 3 POSITIONING DEDICATED SIGNALS 3.2.2 Control chang e registers This area stores the J OG operation s peed data. Table 3.1 Data storag e area for control change l ist Nam e Axis 1 Axis 2 Axis 3 Axi s 4 Ax is 5 Axis 6 Ax is 7 Ax is 8 D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654 Axis 9 Axis 10 Axis 11[...]

3 - 53 3 POSITIONING DEDICATED SIGNALS 3.2.3 Common dev ice s (1) Common bi t device SET/RST request r egister (D704 to D708, D755 to D757) ..…....... .….................................... Command dev ice Becaus e cann ot be tur n on/ off in ev ery bit f rom the PLC CP U, the bit devic e is assi gned to D regist er, and each bi t device tu rns[...]

3 - 54 3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b 5 b4 b3 b 2 b1 b0 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 A xis 4 Axis 3 Axis 2 A xis 1 Axis 32 Axis 31 A xis 30 Axis 29 A xis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 A xis 19 Axis 18 Ax is 17 Ax[...]

3 - 55 3 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magni f ication setti ng registers (D752 to D754) .................................................... Comma nd device (a) T hese registers set the sm oothing tim e constants of manual p ulse generators . Manual pulse generator smoot hing magnification sett ing register Set[...]

3 - 56 3 POSITIONING DEDICATED SIGNALS (6) Real mode axis information reg ister (D790, D791) .................................................... M onitor device This signal is used t o store the i nform ation used as a re al mode ax is at the tim e of switc hing f rom r eal mode to virtu al mode. The rea l mod e axis inform ation does not cha nge [...]

3 - 57 3 POSITIONING DEDICATED SIGNALS 3.3 Motion Reg isters (# ) There ar e moti on regis ters ( #0 to #81 91) in t he Mot ion CPU. #8000 t o #806 3 are u sed as the Motion SFC ded icated d evice and #80 64 to #8 191 are used as the ser vo moni tor devi ce. Refer to the "Q173H CPU/Q1 72HCPU Moti on Control ler (SV 13/SV22) Prog ramming Man ua[...]

3 - 58 3 POSITIONING DEDICATED SIGNALS 3.4 S pecial Relays (SP.M) There ar e 256 s pecia l rela y points of M90 00 to M9 255 i n the Mot ion CPU . Of thes e, 7 po ints of t he M907 3 to M907 9 are used for t he pos itionin g contr ol, and their ap plicat ions are in dicated i n Table 3.2. ( Refer to AP PENDIX 2.1 " Special re lays" for th[...]

3 - 59 3 POSITIONING DEDICATED SIGNALS (3) TEST mode ON f l ag (M9075) ........……...................... Status signal (a) T his fla g is us ed as jud gement of duri ng the tes t mod e or not using a perip heral . Use it f or an i nterlock , etc. a t the st arting of the ser vo program using the Motion SF C program . • OFF . ........ Except th[...]

3 - 60 3 POSITIONING DEDICATED SIGNALS 3.5 Special Reg isters (SP.D) There ar e 256 s pecia l regist er points of D90 00 to D9 255 in t he Mot ion CPU. Of thes e, 23 po ints of the D91 12 and D9 180 to D 9201 are used f or the position ing contr ol. The spe c i al registers u s e d f or po sitioning ar e shown below . (Refer to APPENDIX 2 .2 "[...]

3 - 61 3 POSITIONING DEDICATED SIGNALS (1) Connect/di sconnect (D9112) ..................................... Comm and device/Monitor dev ice This functio n is used to co nnect/d isconnec t the S SCNET comm unication tempor aril y , when t he ser vo amplif iers or SSCNET ca bles on the SSCN ET system are exchan ged during po wer supp ly on of the Mo[...]

3 - 62 3 POSITIONING DEDICATED SIGNALS (3) Moti on CPU W DT error cause (D9184) ………........ Monitor device This register is used as judg ement of the err or conte nts in t he Mot ion CPU. Error code Error caus e Operation when error occur s Action to take 1 S/W fault 1 2 Operation cyc le time over • R eset with th e reset ke y. • If the e[...]

3 - 63 3 POSITIONING DEDICATED SIGNALS (4) Manual pulse generator axis setting error i nf ormatio n (D9185 to D9187) ...............................................….. Moni tor device The s etting i nform ation is c hecked when the m anua l puls e generat or enab le signa l turns off to on, if an erro r is fo und, the f ollo wing e rror inf ormat[...]

3 - 64 3 POSITIONING DEDICATED SIGNALS (8) Serv o amplifier loading information (D9191 to D 9192) ........... Monitor devi ce The i nstallat ion sta te of the servo am plifier is c hecked a t the po wer sup ply on or resett ing of th e Motion CPU an d its r esults are stor ed in th is devic e. If com munic ation wit h serv o amplif ier st ops, it i[...]

3 - 65 3 POSITIONING DEDICATED SIGNALS (10) Operation cycle of the Motion CPU setting (D9197) ........... Monitor devi ce The s etting op eration cycle i s stored in [ µs ] u nit. W hen the "Autom atic s ettin g" is set in the system settin g, the oper ation c ycle corresp onding to the num ber of setting axes. W hen "0. 4[ms] / 0 .[...]

3 - 66 3 POSITIONING DEDICATED SIGNALS MEM O[...]

4 - 1 4 PARAMETERS FOR POSITIONING C ONT ROL 4 4. PARAMETERS FOR PO SITIONING CONTROL 4.1 System Setting s In th e Multip le CPU s ystem , the com m on system par ameters and in dividu al param eters are set f or each CPU an d written to e ach CPU. (1) T he base s ettings , Mult iple C PU settings and Mo tion sl ot setti ngs are set in t he comm on[...]

4 - 2 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2 Fixed Par ameters (1) Th e fixed par ameters are set for each a xis and their data is fi xed based on the mec hanical s ystem , etc. (2) T he fixe d param eters a re set us ing a p eripher al de vice. (3) Th e fixed par ameters to be set are show n in Table 4 .1. Table 4.1 Fix ed parameter list Setti[...]

4 - 3 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.1 Number of pul ses/travel value per rotati on The " Electron ic gear functi on" adj usts the pulse c alculat ed and output b y the par ameter set in the Q17 3HCPU/Q1 72HCPU and the r eal trav el valu e of m achine. It is defin ed by the "N umber of p ulses pe r rotation " and &qu[...]

4 - 4 4 PARAMETERS FOR POSITIONING C ONT ROL Theref ore, AP/ AL is s et so t hat the f ollowi ng expr ession of relati ons ma y be mater ialized i n order t o conv ert the tr avel value of [mm] / [i nch] un it set in the progr am into a puls e. Number of puls es per m otor rot ation = AP Tr avel valu e of m achin e per motor r otatio n = A L = AP A[...]

4 - 5 4 PARAMETERS FOR POSITIONING C ONT ROL The tra vel va lue per m otor rota tion in this ex ample is 0.00 0076[m m]. For ex ample, when or dering the tra vel value of 19[m m], it b ecomes 249036. 8[PLS ] and the f ractio n of 0. 8[PLS]. At this time, th e Motion CPU orders the tra vel value of 24 9036[PLS ] to th e servom otor and t he frac tio[...]

4 - 6 4 PARAMETERS FOR POSITIONING C ONT ROL (1) Stro ke limit ra nge check The s troke lim it rang e is che cked at t he fol lowing s tart or during operati on. Operation st art Check Rem arks • Posit ion follow-up cont rol • Constant -speed control • Speed switc hing control • Posit ioning control • Fixed-pitc h feed control Che ck • [...]

4 - 7 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.4 Command in- position rang e The com mand in-p ositio n is the diff erence bet ween the pos itioni ng address (comm and posit ion) a nd fee d current value . Once t he valu e for the com mand in- positi on has b een set, the com mand i n-positi on signa l (M240 3+20n) tur ns on when the d ifferenc e[...]

4 - 8 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.5 Speed control 10 m ultiplier setting f or degree a xis The s etting ran ge of c ommand s peed is 0.00 1 to 2147 483.64 7[degre e/min] nor mall y in the a xis of cont r o l unit [deg r ee ]. Howeve r, when the " speed cont rol 10 m ul tiplier setti ng for degr ee axis" is set to " val[...]

4 - 9 4 PARAMETERS FOR POSITIONING C ONT ROL • An exa m p le for posit ioning cont rol is shown bel ow when th e "speed cont rol 10 m ultiplier setting for d egree axis " of fixe d param eter and "inter polation contro l unit " of parameter block are set as fol lows. • Spee d control 10 m ultiplier setting f or degre e ax is[...]

4 - 10 4 PARAMETERS FOR POSITIONING C ONT ROL (b) Lo ng-axis re ference speci fication <K 50> 1, 2, 360.00000 20000.000 00 180.00 2 axes linear interpo l a tion control Axis used . . . . . . . Axis 1, Axis 2 Travel value to stop position Pos itioni ng spe ed . . . 1 80.00 [degr ee/mi n] INC-2 Axis Axis Long-axi s speed Axis 1 . . . . . 360.00[...]

4 - 11 4 PARAMETERS FOR POSITIONING C ONT ROL 4.3 Parameter Block (1) The pa rameter blo cks serve to make se tting cha nges easy by al lowing data s uch as the acceler ation/ decelera tion con trol t o be set f or each p osition ing proc essing. (2) A m axim um 64 b locks c an be set as par ameter b lock s. (3) P arameter block s can be s et usin [...]

4 - 12 4 PARAMETERS FOR POSITIONING C ONT ROL POINTS The da ta set i n the p aramet er block is use d in th e posit ioning c ontrol, home pos ition return and JO G operat ion. (1) T he param eter bloc k No. used in the pos itioni ng cont rol is s et usi ng a per ipheral device at the c reatin g of the servo program . If it is not se t, contr ol is [...]

4 - 13 4 PARAMETERS FOR POSITIONING C ONT ROL 4.3.1 Relationships bet ween the speed limit val ue, acceleration time, deceler ation time and rapid stop deceler ation time The sp eed limit val ue is the maxi m u m spe ed at the po sitioning/ho m e position return. The acc elerat ion tim e is the time tak en to r each th e set s peed lim it valu e fr[...]

4 - 14 4 PARAMETERS FOR POSITIONING C ONT ROL As sh own belo w, the S-curv e ratio se tting s erves t o sele ct the par t of the sine c urve to be used as t he acceler ation/ deceler ation curv e. A B B/2 B/2 Sine curve S-c urve rat io = B/ A 100[%] A B Positi oning speed B/A=1. 0 V t Positioning spee d V A B B/A=0. 7 S-c urve rat io is 10 0[%] S-c[...]

5 - 1 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5. SERVO PROGRAMS FOR POSITIONING CONTROL Serv o program s spec ify the type of the pos ition ing data r equir ed to ex ecute the posit ioning contro l in t he Mu ltiple CPU s ystem . This chapter d escribes the c onfigura tion and setti ng metho d of the servo pr ogram s. Refer t o Chapt er "6[...]

5 - 2 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (3) Posi tioning data . ..... This is the da ta required to execute servo i nstructions . The data re quired to ex ecute is f ixed for each s ervo instru ction. Refer to S ection 5.3 f or details . The f ollows a pplies f or the s ervo pr ogram shown in Figur e 5.1: • A xis used and position ing a[...]

5 - 3 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.2 Servo Instr uctions The s ervo instructio ns used in t he servo pr ograms ar e shown belo w. (1) Guide to servo instruction list Table. 5.1 Guide to S ervo Instruction List 2 1(B) Ins tru ction symbol Processing Positioning data Common Circular Paramete r block Other Numb er of steps Parameter b[...]

5 - 4 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (2) Ser vo instruction list The s ervo ins tructions that c an be us ed in ser vo progr ams and the positio ning data s et in t he servo instruct ion are s hown in Tab le 5.2. Ref er to Sec tion 5. 3 for deta ils of the pos itionin g data set in th e servo instr uctio ns. Table 5.2 Serv o instructio[...]

5 - 5 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC * 1 Para meter bloc k Others Starting an gle Amplit ude Frequenc y Refere nce axis No. Control uni t Speed li mit value Accelerati on time Deceleratio n time Rapid sto p deceler ation time Torque l imit val ue Dec elerat ion proce ssing at stop inp ut Allowabl e error range fo[...]

5 - 6 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos i t ioning data Common Circul ar In struct ion sy mbol Proces sing Para meter bl ock No. Axis Addr ess/trav el valu e Comman d speed Dwell tim e M-code Torqu e limit v alue Auxiliary point Radius Cen tral p oint Pitch Virt ual enabl e — Numb er of [...]

5 - 7 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos i t ioning data OSC *1 Parame ter block Others Starting an gle Amplit ude Frequenc y Refere nce axis No. Control uni t Speed li mit value Accelerati on time Deceleratio n time Rapid sto p deceler ation time Torque l imit val ue Dec elerat ion proce ssing at stop inp ut Allowabl e error range for[...]

5 - 8 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos i t ioning data Common Circul ar In struct ion sy mbol Proces sing Para meter bl ock No. Axis Addr ess/trav el valu e Comman d speed Dwell tim e M-code Torqu e limit v alue Auxiliary point Radius Cen tral p oint Pitch Virt ual enabl e — Numb er of [...]

5 - 9 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Parame ter block Others Starting an gle Amplit ude Frequenc y Refere nce axis No. Control uni t Speed li mit value Accelerati on time Deceleratio n time Rapid sto p deceler ation time Torque l imit val ue Dec elerat ion proce ssing at stop inp ut Allowabl e error range for [...]

5 - 10 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos itionin g data Common Circul ar Instruction sy mb ol Proc essing Paramet er block N o. Axis Addr ess/trav el valu e Comman d speed Dwell tim e M-code Torque l imit val ue Auxiliary point Radius Central poi nt Pitch Virtual enable — Number of steps[...]

5 - 11 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Para meter bl ock Oth ers Starting an gle Amplit ude Frequenc y Refere nce axis No. Control uni t Speed li mit value Accelerati on time Deceleratio n time Rapid sto p deceler ation time Torque l imit val ue Dec elerat ion proce ssing at stop inp ut Allowabl e error range f[...]

5 - 12 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos itionin g data Common Circul ar Instruction sy mb ol Proc essing Paramet er block N o. Axis Addr ess/trav el valu e Comman d speed Dwell tim e M-code Torque l imit val ue Auxiliary point Radius Central poi nt Pitch Virtual enable — Number of steps[...]

5 - 13 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Para meter bl ock Oth ers Starting an gle Amplit ude Frequenc y Refere nce axis No. Control uni t Speed li mit value Accelerati on time Deceleratio n time Rapid sto p deceler ation time Torque l imit val ue Dec elerat ion proce ssing at stop inp ut Allowabl e error range f[...]

5 - 14 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos itionin g data Common Circul ar Instruction sy mb ol Proc essing Paramet er block N o. Axis Addr ess/trav el valu e Comman d speed Dwell tim e M-code Torque l imit val ue Auxiliary point Radius Central poi nt Pitch Virtual enable — Number of steps[...]

5 - 15 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos i t ioning data OSC *1 Parame ter block Others Starting an gle Amplit ude Frequenc y Refere nce axis No. Control uni t Speed li mit value Accelerati on time Deceleratio n time Rapid sto p deceler ation time Torque l imit val ue Dec elerat ion proce ssing at stop inp ut Allowabl e error range fo[...]

5 - 16 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.3 Positioning Data The pos itioning dat a set in the s ervo program s is s hown in Table 5 .3. Table 5.3 Positi oning data Setting val ue using a peripheral device Setting ran ge Name Ex planation Default value m m inc h degre e PLS Par ameter b lock No. • Se t b ased on which param eter block [...]

5 - 17 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Sett ing valu e using the Motion SFC prog ram (Ind irect se tting ) Indi rect se tting Pro cessing at the se tting er ror Setting ran ge mm i nch de gree PLS Possible/ not possible Number of used words Error it em data ( Note-4) (Stored in D9190) Control usi ng default valu e Not start 1 to 64 1 1 [...]

5 - 18 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.3 Positioni ng data (Continued) Setting val ue using a peripheral device Setting ran ge Name Ex planation Default value mm inch degr ee PLS Absolute data meth od -21 4748364.8 to 214748 364.7 [ µ m] -21 474.83648 to 21 474.83647 0 to 359. 99999 -21474 83648 to 21 4748364 7 Auxiliary point [...]

5 - 19 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Set ting va lue using the Mot ion SFC pr ogram (I ndirect setti ng) Indi rect sett ing Proces sing a t the sett ing erro r Setting ran ge mm i nch degree PLS Possible/ not possible Number of used words Error it em data ( Note-4) (Stored in D9190) Control usi ng default valu e Not st art -21 4748364[...]

5 - 20 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.3 Positioni ng data (Continued) Setting val ue using a peripheral device Setting ran ge Name Ex planation Default value mm inch degr ee PLS Repeat c ondition (Numbe r of repetiti ons) Set the repeat condi tions be tween FO R- TIMES instruction and NEXT instructio n. 1 to 32 767 Repeat c ond[...]

5 - 21 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Set ting va lue using the Mot ion SFC pr ogram (I ndirect setti ng) Indi rect sett ing Proces sing a t the sett ing erro r Setting ran ge mm i nch degr ee P LS Possible/ not possible Number of used words Error it em data ( Note-4) (Stored in D9190) Control usi ng default valu e Not st art 1 to 3276[...]

5 - 22 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.4 Setting Method fo r Posi tioning Data This section d escri bes how t o set the positi oning dat a us ed in the servo pr ogram . There ar e two wa y s t o set position ing data, as f ollows: (1) Setting by spec ifying num erical va lues … R efer t o Secti on 5.4. 1 (2) In direct s etting by wo[...]

5 - 23 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.4.2 Indirect setting method by word devices (D, W and #) In th e indir ect sett ing m ethod (Note-1) b y word de vices, th e wor d device ( D, W and #) No. is sp ecified to the positio ning d ata spec ified with the servo program . By us ing the c ontents (data) of specif ied wor d devic e using [...]

5 - 24 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (1) Devi ces f or indi rect setting data The de vices for indirec t sett ing data are dat a reg isters (D) , link registers (W) and motion r egist ers (#) . (Wor d devices except t he data register s, link registers and motion r egist ers cann ot be used.) The usa ble da ta regist ers are s hown in[...]

6 - 1 6 POSITIONING CONTROL 6. POSITIONING CONTROL This sectio n descr ibes th e posit ionin g contr ol metho ds. 6.1 Basics of Positioning Control This sectio n descr ibes th e comm on item s f or positio ning contro l, which is desc ribed in deta il after S ectio n 6.2. 6.1.1 Positioning speed The pos ition ing spee d is se t usi ng the s ervo pr[...]

6 - 2 6 POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control The pos ition ing spee d of the M otion CPU sets t he trav el spee d of th e control system . (1) 1 axis linear control Trave l spee d is the posit ioning s peed of the s pecifie d axis a t the 1 axis posit ioning contro l. (2) Linear interpolation control Posit ioning[...]

6 - 3 6 POSITIONING CONTROL (b) Long-axis speed specif ication It is c ontrolle d based on the positio ning spe ed (Lon g-axi s speed: V) of t he larges t trav el valu e axis among addr ess se t as e ach axis . The M otion CPU calcu lates the positi oning s peed of other ax es (V 1 to V 3 ) using th e each axis tr avel value (D 1 to D 4) . Set the [...]

6 - 4 6 POSITIONING CONTROL • Speed : The lar gest tr avel va lue axis is contr olled with the long- axis spe ed and the oth er axes are contr olled with th e speed based on the lon g-axis s peed, as the res ult of conv ersion. The pos ition ing spee d is co nverted into [PL S/s] un it as the lon g-axis s peed wi th the e lectron ic gear t hat th[...]

6 - 5 6 POSITIONING CONTROL POINTS (1) Spee d limit va lue and posit ioning spee d • The s etting spee d lim it value appl ies to the l ong-axis speed. • Be c areful that the c ombine d-speed ma y exc eed t he spee d lim it value at the long- axis s peed spec ific ation. The f ollowing setti ngs at the 2 axes line ar interpolat ion, the com bin[...]

6 - 6 6 POSITIONING CONTROL 4 axes linear interp olatio n control is sho wn bel ow. [Program exam ple] Axis 1 travel va lue: D 1 = 1 0000 [PLS] Axis 2 travel value: D 2 = 15000 [PLS] Axis 3 travel value: D 3 = 5000 [ PLS] Axis 4 travel value: D 4 = 20000 [PLS] Referenc e axis spee d: V = 7000 [PLS/s] Referenc e axis: Ax is 4 In this ex ample, si nc[...]

6 - 7 6 POSITIONING CONTROL (3) Circ ular interpolation control The an gular sp eed is contro lled with the s etting speed a t the circ ular i nterpol ation contr ol. Co n t rol with th e settin g speed 6.1.3 Control uni ts for 1 axis positi oning control It is c ontrol led in th e con trol un its spec ifie d with t he fixe d param eters a t the 1 [...]

6 - 8 6 POSITIONING CONTROL (2) T he com binat ions of each ax is contr ol u nits for inter polation contr ol are s hown in the ta ble below . Mm inch degree PLS mm 1) 2) 3) 3) inch 2) 1) 3) 3) degree 3) 3) 1) 3) PLS 3) 3) 3) 1) Remarks 1): Sam e units 2): Com binat ion of [m m] and [ inch] 3): Un it mism atch (a) Same units ( 1) ) The pos ition c [...]

6 - 9 6 POSITIONING CONTROL 6.1.5 Control i n the control unit "deg ree" If the control units are "degr ee", th e foll owing items differ f rom other contr ol units . (1) Curr ent value address The c urrent ad dresses in th e contro l unit "degr ee" are r ing ad dresses from 0° to 360°. 359.99999 359.99999 0 0 0 (2) [...]

6 - 10 6 POSITIONING CONTROL (3) Positi onin g contr ol Posit ioning c ontrol m ethod in the c ontrol unit " degree" is sho wn belo w. (a) A bsolute data m ethod ( ABS instructions) Posit ioning in a ne ar direc tion to the sp ecified ad dress is perform ed based on the curr ent valu e. (1) Pos itioning is executed in a c lockwise d irect[...]

6 - 11 6 POSITIONING CONTROL 6.1.6 Stop processi ng and restarting after stop This section d escri bes the s top proc essing after a s top c ause is input dur ing posit ioning a nd rest arting af ter st op. (1) Stop processi ng (a) St op proc essing methods Stop proc essing dur ing pos itioning b y stop cause ar e as follo w s . 1) Dec elerat ion s[...]

6 - 12 6 POSITIONING CONTROL 4) Sto p using the manu al puls e gener ator (Pr ocess 4) ....... ...........D eceler ation sto p by the "dece leratio n time" of (Sm ooth ing mag nific ation + 1) 56.8[m s]. (b) Priority for stop processing Priori ty for s tops wh en a sto p cause is inpu t is as follow s: Process 1 < Proces s 2 < Proc [...]

6 - 13 6 POSITIONING CONTROL (c) Stop commands and stop causes Some s top com mands and stop causes af fect individ ual axis and ot hers aff ect all axes . However , duri ng inter polatio n contro l, stop c omm ands and s top caus es which af fect ind ividua l axis als o s top the in terpola tion axis . For ex ample, both Axis 1 an d Axis 2 stop af[...]

6 - 14 6 POSITIONING CONTROL (2) Re-sta rtin g afte r stop (a) If it sto pped b y the stop comm and or sto p cause (except c hang e speed to speed "0"), re-st arting is not possib le. However , it st opped by the ST OP input of the Q172LX ON, the stop comm and (M320 0+20n) ON or t he rapid s top com mand (M3201+20 n) ON durin g speed/ pos[...]

6 - 15 6 POSITIONING CONTROL (3) Conti nuation of p ositioning control This section d escri bes the process ing whic h perf ormed ser vo progr am No. which was be ing perf ormed b efore th e stop, after sto p b y t urning on the STOP in put of the Q1 72LX ON, the st op com mand (M 3200+20 n) ON or the rap id stop comm and (M320 1+20n) ON. (a) 1 axi[...]

6 - 16 6 POSITIONING CONTROL [Proc essing i n the Mot ion SF C Program ] 1. Transf er the start ad dress to wor d devices of th e Motion CPU bef ore starti ng. 2. Calc ulate th e target addres s by ap plying the tra vel value to the ad dress before starting . 3. Calc ulate th e resi dual tra vel value by sub tractin g the s top addres s from the ta[...]

6 - 17 6 POSITIONING CONTROL 6.1.7 Acceleration/dec eleration processing Acce leratio n/deceler ation are proc essed by the f ollowin g two m ethods. (1) Trapez oidal acceleration/deceleration pr ocessing This is a con ventiona l linear acce leratio n/decel eration process ing. The a cceleration /decelera tion graph r esembles a tr apezoid, as show[...]

6 - 18 6 POSITIONING CONTROL S-cur ve rati o can be s et b y t he serv o program is fol lowing t wo meth ods. (a) Direct specification S-cur ve rat io is set direct ly a s a num eric va lue from 0 to 100. <K 10> INC-2 Axis Axis Combine d-speed S-curve ratio 1, 2, 100000 250000 1000 80 2 axes lin ear positioning control Axis used . . . . . . .[...]

6 - 19 6 POSITIONING CONTROL 6.2 1 Axis Linear Positioning C ontrol Posit ioning c ontrol f rom the cur rent st op posit ion to the fi xed pos ition fo r spec ified ax is is ex ecuted. Posit ioning is co ntrolled us ing ABS-1 (A bsolute da ta method) or INC-1 (Increm enta l data m ethod) s ervo ins tructi ons. Ite ms are set in per ipheral dev ices[...]

6 - 20 6 POSITIONING CONTROL Contro l using INC-1 (I ncrement al dat a method) (1) Position ing c ontrol of the sp ecifi ed trav el valu e from the curr ent st op posit ion addres s is ex ecuted. (2) Th e travel dir ection is set by the sign (+/ - ) of the travel value, as foll ows: • Positi ve tra vel value ......... ....Pos itioning control to [...]

6 - 21 6 POSITIONING CONTROL (3) Oper ation timing Operat ion tim ing for th e servo program No.0 is s hown below. Servo Program No.0 10000 V PLC ready flag (M2000) A ll axes servo ON command (M2042) A ll axes servo ON accept flag (M2049) Start command (PX000) Servo program st art Axis 4 start acce pt flag (M2004) A xis 4 servo ready (M247 5 ) t (4[...]

6 - 22 6 POSITIONING CONTROL 6.3 2 Axes Linear Interpolation Control Linear interp olation contro l from the curr ent st op posit ion wit h the sp ecified 2 axes is execu ted. ABS- 2 (Absol ute data m ethod) and INC- 2 (Incr emental data m ethod) ser vo instr uctions are use d in the 2 axes line ar inter polatio n control. Ite ms are set in per iph[...]

6 - 23 6 POSITIONING CONTROL (2) The t ravel dire c t ion is set by th e stop addre ss (starting add ress) and posit ioning addres s of eac h axis. Forw a rd direction Y 1 Y 2 Y-axis travel value Reverse dir ecti on Reverse direction Current stop address ( X 1 , Y 1 ) Positioning address (X 2 , Y 2 ) Operation for X-axis, Y-axis linear interpolat i[...]

6 - 24 6 POSITIONING CONTROL Contro l using INC-2 (I ncrement al dat a method) (1) P osition ing contr ol from the curr ent st op addres s to the position which combin ed trave l direc tion and trave l valu e specif ied with each axis is exec uted. (2) Th e travel dir ection for ea ch axis is se t b y the sign (+ / -) of the trave l value fo r each[...]

6 - 25 6 POSITIONING CONTROL (2) Positi onin g oper ation details The pos itionin g is used th e Axis 3 and Axis 4 servom otors. The pos itionin g operat ion by the Ax is 3 and Axis 4 s ervom otors is sho wn in the diagr am belo w. Axis 3 posit ioning direction Positioning using t he servo program No.11 Axis 4 positioning direction (0, 0) Hom e pos[...]

6 - 26 6 POSITIONING CONTROL (5) Serv o program Serv o program No.11 f or 2 axes linear inter polation contr ol is sho wn bel ow. <K 11> ABS-2 Axis Axis Combined- speed 3, 4, 50000 40000 30000 2 axes line ar interpolation control Axis used . . . . . . . . . . Axis 3, Axis 4 Axis 3 . . . 50 000 Axis 4 . . . 40 000 Command posi tioning speed Co[...]

6 - 27 6 POSITIONING CONTROL 6.4 3 Axes Linear Interpolation Control Linear interp olation contro l from the curr ent st op posit ion wit h the sp ecified 3 axes is execu ted. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Oth ers Servo instruction Pos itionin g meth od Number o f contr ol axes Para meter bl ock No. Axis Addr [...]

6 - 28 6 POSITIONING CONTROL [Contro l details] Cont rol using ABS -3 (Absolut e data method ) (1) 3 axes l inear inter polati on from the curre nt stop address (X 1 , Y 1 or Z 1 ) based on the h ome pos ition t o the sp ecifi ed posit ionin g addres s (X 2 , Y 2 , Z 2 ) is execut ed. (2) The t ravel dire c tio n is set by th e stop address and sp [...]

6 - 29 6 POSITIONING CONTROL Contro l using INC-3 (I ncrement al dat a method) (1) P osition ing contr ol from the curr ent st op addres s to the position which combin ed trave l direc tion and trave l valu e specif ied with each axis is exec uted. (2) Th e travel dir ection for ea ch axis is se t b y the sign (+ / -) of the trave l value fo r each[...]

6 - 30 6 POSITIONING CONTROL [Program ] Progr am f or 3 axes linear inter polatio n contr ol is s hown as the f ollowi ng cond itions. (1) System configur ation 3 axes linear interp olati on contr ol of Ax is 1, Ax is 2 and Ax is 3. Positioning start command (PX000) MM M M Motion CPU cont ro l modul e Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61[...]

6 - 31 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for 3 axes linear i nterpol ation co ntrol is shown below. V Servo program No.21 PLC ready flag (M2000) A ll axes servo ON command (M2042) All axes servo ON accept flag (M2049) Start command (PX000) Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003) Axis 3 servo re[...]

6 - 32 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 ABS-3 Axis 1, 5 0000PLS Axis 2, 4 0 000P LS Axis 3, 3 0 000P LS Speed 1000PLS /s PX000*M2415*M2435*M 2455 END !PX000 3 axes linear interpolation control 3 axes linear Wait until PX000 turn off after linear int[...]

6 - 33 6 POSITIONING CONTROL 6.5 4 Axes Linear Interpolation Control Linear interp olation contro l from the curr ent stop positio n with 4 axes s pecifi ed with the posit ioning c omm and of the PLC progr am is execut ed. Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Othe rs Servo instructi on Pos i t ioning method Number o f[...]

6 - 34 6 POSITIONING CONTROL [Program ] Progr am f or 4 axes linear inter polatio n contr ol is s hown as the f ollowi ng cond itions. (1) System configur ation 4 axes li near inter polati on control of Axis 1, Ax is 2, Axis 3 and Axis 4. Q61P Q02H CPU Q172H CPU Q172 LX QX41 Positioning start command (PX000) MM M M Motion CPU cont ro l modul e Axis[...]

6 - 35 6 POSITIONING CONTROL Axis 2 positi o n ing dir ecti on (Forward direction) 5000 5000 5000 (Reverse direction) Positioning using the servo program No.22 (Forward direction) Axis 4 positioning direction (Forward direction) Axis 1 positionin g direction (Forward direction) A xis 3 positionin g direction (Forward direction) (Reverse direction) [...]

6 - 36 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for 4 axes linear i nterpol ation co ntrol is shown below. PLC ready flag ( M2000) All axes servo ON command (M2042) Servo program No.22 All axes servo ON accept Flag (M2049) Start command (PX000) Axis 1 start a c cept flag (M2001) Axis 2 start a c cept flag (M2002) Axis 3 start [...]

6 - 37 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. 4 axes linear interpolation control Axi s used . . . . . . . Axis 1 , Axis 2 , Axis 3 , Axis 4 Command positioning speed Combined-speed . . . . . . . . . . . . . . . 10000[PLS/s] SET M204 2 INC-4 Axis 1, 3000PLS Axis 2,[...]

6 - 38 6 POSITIONING CONTROL 6.6 Au x ilia ry Point-Sp ecifie d Circular Interpo lation Con trol Circu lar inter polat ion contr ol b y specif icatio n of th e end po int addr ess a nd auxi liary point a ddress (a point on th e arc) for circu lar int erpolati on is ex ecuted. Auxil iary poi nt-spec ifie d circul ar uses ABS (A bsolute data m ethod)[...]

6 - 39 6 POSITIONING CONTROL (3) T he setti ng rang e of the e nd poi nt addr ess and auxiliar y point address is (-2 31 ) to (2 31 -1). (4 ) Th e ma xi mum a rc r ad ius is 2 32 -1. Maximum arc Arc central point Radius R 2 31 -1 -2 31 0 2 32 -1 Fig.6.10 M a x imum arc Cont rol using INC (Inc rementa l data m ethod) (1) Circula r i nterpolatio n fr[...]

6 - 40 6 POSITIONING CONTROL (4 ) Th e ma xi mum a rc r ad ius is 2 31 -1. If the e nd poi nt and aux iliar y point are s et m ore than a radius of 2 31 -1, a n e rror occurs at the start and error code [ 107] is st ored in the d ata regis ter. Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point Fig.6.12 M a x imum arc [Program ] Progr [...]

6 - 41 6 POSITIONING CONTROL (3) Positi onin g condi tions (a) Posi tioning cond itions are show n below. Servo program No. Item No.31 Positioning method Absolute data method Positioning speed 1000 (b) P ositionin g start c omman d ........ T urning PX000 of f to on (O FF ON) (4) Oper ation timing Opera tion tim ing for auxi liary po int-spec ified[...]

6 - 42 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. Auxiliary point-specified circular interpolation control SET M204 2 PX000*M2415*M2435 END !PX000 Wait until P X000 turn off after circular in terpolation completion. Turn on all axes servo O N command. Waits until PX000[...]

6 - 43 6 POSITIONING CONTROL 6.7 Radius-Speci f ied C ircular Inter polation Control Circu lar inter polatio n contr ol b y specific ation of the e nd po int addr ess and radius f or circul ar inter polati on is exec uted. Radiu s-specified circul ar interpola tion control u s es ABS , ABS , ABS and ABS (Absolu te data met hod) and I NC , IN C , IN[...]

6 - 44 6 POSITIONING CONTROL [Contro l details] Details for th e servo instruct ions ar e show n in the table below. Instruction Rotation direction of the servomotors Maximum controllable angle of arc Positioning path ABS INC Clockw ise Position ing path End point Radius R Centr al point <18 0 Start point ABS INC Counter clockwise 0° < < [...]

6 - 45 6 POSITIONING CONTROL (4) The setting range for the radius is 1 to (2 31 -1). (5) The maximum arc radius is (2 32 -1). 2 31 -1 2 31 -1 -2 31 Maximum arc Arc central point Radius R 0 Fig.6.14 M a x imum arc Cont rol using INC , INC , INC , INC (Increm ental data method) (1) Cir cular interpo lation f rom the c urren t stop a ddr es s ( 0, 0) [...]

6 - 46 6 POSITIONING CONTROL [Program ] Progr am for radius-s pecified circu lar inter polatio n contr ol is s hown as t he fol lowing condit ions. (1) System configur ation Radius -spec ified cir cular int erpol ation contr ol of Axis 1 and Axis 2. Positioning start command (PX000) MM M M Motion CPU control module Axis 4 Axis 1 Axis 2 Axis 3 AMP A[...]

6 - 47 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for radius -specif ied circ ular interpo lation c ontro l is sh own be low. V PLC ready flag ( M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Start command (PX000) Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002) Com bin ed-s peed [...]

6 - 48 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435 END !PX000 Wait until PX 000 turn off after circular i n terpola tio n comple tion. Turn on all axes servo ON command. Wait until PX000, Axis 1 servo ready and A xis 2 servo rea dy turn on. R[...]

6 - 49 6 POSITIONING CONTROL 6.8 Central Poi nt-Specified Circular Interpolation Control Circu lar int erpolat ion contr ol b y specif icat ion of th e end point f or circ ular in terpola tion and arc centr al poin t is ex ecuted. Centra l poin t-spec ified c ircular interp olatio n contro l uses ABS and A BS (Absolut e data meth od) and INC and IN[...]

6 - 50 6 POSITIONING CONTROL Control us ing ABS , ABS (Absolute data method) (1) Cir cular interpo lation of an arc with a r adius e quival ent to t he dista nce bet ween the star t point and ce ntral p oint, bet ween th e current stop address ( address befor e posit ioning) based o n the h ome pos ition a nd the s pecif ied end poi nt ad dre ss . [...]

6 - 51 6 POSITIONING CONTROL Control us ing INC , INC (Increm ental method) (1) Cir cular interpo lation f rom the c urren t stop a ddr es s ( 0, 0) with a radius equival ent to the d istanc e betwe en the s tart poin t (0, 0) and ce ntral po int. Forward direction Home point Reverse direction Operation by circular interpolation (for INC ) Position[...]

6 - 52 6 POSITIONING CONTROL [Program ] Progr am for central p oint-s pecifi ed circu lar int erpolat ion contr ol is s hown as the follo wing co nditi ons. (1) System configur ation Centra l poin t-spec ified c ircular interp olatio n contr ol of Axis 1 and Ax is 2. Positioning start command (PX000) MM M M Motion CPU control module Axis 4 Axis 1 A[...]

6 - 53 6 POSITIONING CONTROL (4) Oper ation timing Oper ation timin g for central p oint-spe c ifi ed circul ar interpol ation is show n below. V PLC ready flag ( M2000) Servo Program No.51 All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Start command (PX000) Axis 1 start accep t flag (M2001) Axis 2 start acce pt flag ( M200[...]

6 - 54 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435 END !PX000 Wait unt il PX000 turn off after circular in terpolation completion. Turn on all axes serv o ON command. Wait until PX000, Axis 1 servo rea dy and Axis 2 servo ready turn on. Centr[...]

6 - 55 6 POSITIONING CONTROL 6.9 Helic al Interpolation Control The l inear int erpolat ion co ntrol wi th line ar axis is exec uted sim ultaneo usly wh ile the circul ar inter polati on specif ied wi th any 2 axes is execut ed, the s pecif ied num ber of pitches rotat es spir ally a nd perf orm s the loc us contro l to c omm and posit ion. Ite ms [...]

6 - 56 6 POSITIONING CONTROL 6.9.1 Circul ar interpolation specified method by helical i nterpolation The f ollowing method of circ ular int erpolat ion is possib le for th e helic al interp olati on. The s pecifie d method of circ ular int erpolat ion con nected start po int an d end po int at the see ing on the pl ane for whi ch perfo rm s ci rcu[...]

6 - 57 6 POSITIONING CONTROL (3) W hen the travel valu e of li near ax is is "0" is s et, it can be c ontrol led. Condition Operation Number of pitches is 0 Same control as normal circul ar interpolation control. (Allowable error range for circular interpolation c an be set.) Number of pitches is not 0 Linear interpolation to lin ear axis[...]

6 - 58 6 POSITIONING CONTROL ABH , AB H , ABH , ABH Abs olute ra dius-spec ified helic al interpo latio n contr ol [Contro l details] The l inear int erpolat ion to other l inear ax is is ex ecuted perf orming 2 ax es circ ular interp olation from current s top pos ition ( X0, Y0, Z0) t o spec ified c ircular end address (X1, Y1) or linear axis end[...]

6 - 59 6 POSITIONING CONTROL (1) T he setti ng rang e of en d point a ddress f or the bo th of circular interpo lation ax is and line ar interp olati on axis is ( -2 31 ) to (2 31 -1). (2) Th e m axi m u m a rc radius on the circular in terpola tion plane is ( 2 31 -1). For exam ple, the m aximum arc radius for el ectronic ge ar 1:1 of unit [mm ] i[...]

6 - 60 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 PX000*M2415*M2435*M2455 !PX000 Wait until PX000 tu rn off after ci rcular interpolation completion. Turn on all axes servo ON com mand. Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, and Axi s 3 se[...]

6 - 61 6 POSITIONING CONTROL INH , INH , INH , INH Incr emental r adius -spec ified he lical interpo lation contr ol [Contro l details] The linear interp olation t o other linear axis is exec uted per form ing circular in terpo lation from current stop pos ition ( start point) to spec ified c ircular relati ve end a ddress ( X1, Y1) or lin ear axis[...]

6 - 62 6 POSITIONING CONTROL Contro l deta ils fo r the se rvo instr uctio ns are s hown below. Instruction Rotation direction of servomotor Controllable angle of arc Positioning pass INH Radius-specified helical interpolation less than C W 180° Clockw ise (CW ) Pos itio nin g path End point Radius R Central point <180 Star t point INH Radius-s[...]

6 - 63 6 POSITIONING CONTROL (3) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ular i nterpolat ion axis. (4) T he comm and sp eed uni t is sp ecified in the p arameter block . (5) S et the n umber of pitch es within t he ra nge of 0 t o 999. If it is set outs ide the settin g range, the ser vo pro gram err or [28] occ urs a nd[...]

6 - 64 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 PX000*M2415*M2435*M 2455 !PX000 Wait unti l PX000 turn OFF after ci rcular interpolati on completion. Turn on al l axes servo ON com mand. Wait until PX000, Axis 1 servo r eady, Axis 2 ser vo ready and Axis 3[...]

6 - 65 6 POSITIONING CONTROL ABH , AB H Abs olute c entral po int-spec ifie d helica l interpo lation control [Contro l details] The l inear int erpolat ion to other l inear ax is is ex ecuted perf orming 2 ax es circ ular interp olation from current s top pos ition ( X0, Y0, Z0) t o spec ified c ircular end address (X1, Y1) or linear axis end poin[...]

6 - 66 6 POSITIONING CONTROL (3) Th e m axi m u m a rc radius on the circular in terpola tion plane is 2 31 -1. For exam ple, the m aximum arc radius for el ectronic ge ar 1:1 of unit [mm ] is 214748364. 7[ µm]. Maximum arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ula[...]

6 - 67 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX0 00*M 241 5*M 2435* M245 5 !PX00 0 Wait until PX 000 turn off after circular interpol ation completion. Turn on all axes servo ON com mand. Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axi s[...]

6 - 68 6 POSITIONING CONTROL INH , INH Incr ementa l cent ral poi nt-spec ified h elica l inter polat ion contr ol [Contro l details] The linear interp olation t o other linear axis is exec uted per form ing circular in terpo lation from current stop pos ition ( start point) to spec ified c ircular relati ve end a ddress ( X1, Y1) or lin ear axis e[...]

6 - 69 6 POSITIONING CONTROL (3) Th e m axi m u m a rc radius on the circular in terpola tion plane is ( 2 31 -1). For exam ple, the m aximum arc radius for el ectronic ge ar 1:1 of unit [mm ] is 214748364. 7[ µm]. Maximum arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S et the com mand s peed with the combin ed-spe ed for 2 axes circ [...]

6 - 70 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435*M2455 !PX0 00 Wait until PX 000 turn off after c ircular interpo lation completion. Tu rn on all a xes ser vo ON com mand. Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 [...]

6 - 71 6 POSITIONING CONTROL ABH Absolut e auxilia r y point-spe cified he lical i nterpolat ion contr ol [Contro l details] The l inear int erpolat ion to other l inear ax is is ex ecuted perf orming 2 ax es circ ular interp olation from current s top pos ition ( X0, Y0, Z0) t o spec ified c ircular end address (X1, Y1) or linear axis end point ad[...]

6 - 72 6 POSITIONING CONTROL Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ular i nterpolat ion axis. (5) T he comm and sp eed uni t is sp ecified in the p arameter block . (6) S et the n umber of pitch es within t he ra nge of 0 t o 999. If it is set outs ide [...]

6 - 73 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435*M 2455 !PX0 00 Wait until PX000 turn off aft er circular interpolat ion completion. Turn on al l axes servo ON command. Wai t unti l PX00 0, Axis 1 serv o read y, Axis 2 serv o read y and Axi[...]

6 - 74 6 POSITIONING CONTROL INH Incr ementa l auxiliar y point-sp ecifi ed helica l interpo lation co ntrol [Contro l details] The linear interp olation t o other linear axis is exec uted per form ing circular in terpo lation from current stop pos ition ( start point) to spec ified c ircular relati ve end a ddress ( X1, Y1) or lin ear axis end po [...]

6 - 75 6 POSITIONING CONTROL Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ular i nterpolat ion axis. (5) T he comm and sp eed uni t is sp ecified in the p arameter block . (6) S et the n umber of pitch es within t he ra nge of 0 t o 999. If it is set outs ide [...]

6 - 76 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2 042 PX000*M2415*M2435*M2455 !PX000 Wait until P X000 turn o ff after circular interpolati on compl etion. Turn o n all ax es servo O N comman d. Wait un til PX000, Axis 1 servo ready, Ax is 2 servo read y and Axi[...]

6 - 77 6 POSITIONING CONTROL 6.10 1 Axis Fixed-Pitch Feed Control Posit ioning c ontrol f or spec ifie d axis of spec ified tr avel value f rom the c urrent stop point. Fixed- pitch f eed contr ol uses the FEED- 1servo instruc tion. Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Others Servo instructi on Positio ning method Num[...]

6 - 78 6 POSITIONING CONTROL [Program ] Prog ram for re petition 1 axis fixed -pitch fee d control i s shown as th e followin g condit ions. (1) System configur ation Fixed -pitch feed control of Axi s 4. MM M M Motion CPU control module Positioning start command (PX000) Positioning end comm and (PX001) Axis 4 Axis 1 Axis 2 Axis 3 AMP A MP AMP AMP [...]

6 - 79 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed contr ol is s hown be low. V 10000 t PLC ready flag (M 2 000) All axes servo ON command (M2042) All axes servo ON accept f lag (M2049) Axis 4 servo r eady (M2475) Start command (PX000) Servo program start Axi s 4 st art ac cept flag (M2004) End command (PX0[...]

6 - 80 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. 1 axis fixed-pitch fee d control SET M2042 FEED -1 Axis 4, 80000PLS Speed 10000PLS / s Dwell 1000ms PX000*M2475 !PX000*!PX001 P0 P0 END PX001 1 axis fixed-p itch feed control 1 axis fixed-pitch fee d Axis used . . . . .[...]

6 - 81 6 POSITIONING CONTROL 6.11 Fixed- Pitch Feed Contr ol Using 2 Axes Linear Interpol ation Fixed- pitch f eed contr ol usin g 2 axes linear interp olation from the c urrent s top pos ition with th e specif ied 2 axes. Fixed- pitch f eed contr ol usin g 2 ax es linear interp olation uses the FEED-2 s ervo inst r uction . Ite ms are set in per i[...]

6 - 82 6 POSITIONING CONTROL POINT Do not s et the travel v alue to "0" for f ixed- pitch fe ed contr ol. The f ollowing resu lts if the travel v alue is set to "0": (1) If the tra vel val ue of b oth is s et to "0 ", fixed- pitch f eed com pletion withou t fixed- pitch f eed. [Program ] Progr am for fixed-p itch fee d[...]

6 - 83 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed co ntrol us ing 2 axes lin ear int erpolat ion is shown be low. 10000 V t PLC ready flag (M2000) All axes ser vo ON command (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready ( M2 4 35) Axis 3 servo ready ( M2455 ) Start command (PX000) Servo [...]

6 - 84 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the spe ed-swi tching c ontro l is sho wn belo w. Fixed-pitch feed using 2 axes linear interpolation Fixed-pitch feed u s ing 2 axes linear interpolation SET M2042 FEED -2 Axis 2, 500000PLS Axis 3, 3 0 0000PLS Speed PX000*M2435*M 2455 END !PX000 Positionin[...]

6 - 85 6 POSITIONING CONTROL 6.12 Fixed- Pitch Feed Contr ol Using 3 Axes Linear Interpol ation Fixed- pitch f eed contr ol usin g 3 axes linear interp olation from the c urrent s top pos ition with th e specif ied 3 axes. Fixed- pitch f eed contr ol usin g 3 ax es linear interp olation uses the FEED-3 s ervo inst r uction . Ite ms are set in per i[...]

6 - 86 6 POSITIONING CONTROL POINT Do not s et the travel v alue to "0" for f ixed- pitch fe ed contr ol. The f ollowi ng resu lts if t he trav el va lue is s et to "0": (1) If the tra vel val ue of a ll axes are set to "0", fix ed-pit ch feed com plet ion witho ut fixed-p itch fee d. [Program ] Progr am for fixed-p it[...]

6 - 87 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed co ntrol us ing 3 axes lin ear int erpolat ion is shown be low. t V 1000 PLC ready flag (M2000) All axes servo ON com mand (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready (M2 435) Axis 1 servo ready (M2 415) Axis 3 servo ready (M2 455) Star[...]

6 - 88 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. Fixed-pitch feed u sing 3 axes linear interpolation Fixed-pitch feed using 3 axes linear interpolation SET M2042 FEED -3 Axis 1, 50000PLS Axis 2, 40000PLS Axis 3, 30000PLS Speed PX000*M2415*M2435*M2455 END !PX000 Positi[...]

6 - 89 6 POSITIONING CONTROL 6.13 Speed Contr ol ( ) (1) Speed c ontrol f or the spec ified ax is is execut ed. (2) Co ntrol i ncludes positio ning loo ps for c ontrol of serv o amplif iers. (3) Speed control ( ) uses the VF (F orward) an d VR (Rev erse) serv o instruct ions. Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Other[...]

6 - 90 6 POSITIONING CONTROL (3) St op com mands a nd stop process ing The s top comm ands an d stop pr ocessi ng for s peed co ntrol are shown in the table.6.1. Table.6.1 Stop comm ands and stop processing Stop comm and Stop c ondition Stop axis Stop proc essing STOP signal i nput of the Q172LX (STOP) Decelerati on stop based on the par ameter blo[...]

6 - 91 6 POSITIONING CONTROL [Program ] Program for speed control ( ) i s shown as the fo llowing co nditions. (1) System configur ation Spee d control ( ) of Ax is 1. Q61P Q02H CPU Q172H CPU Q172 LX QX41 MM M M Motion CPU control module Start/stop command (PX000) Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP (2) Speed control ( ) conditions (a) Spee[...]

6 - 92 6 POSITIONING CONTROL (4) Serv o program Serv o program No.91 f or spee d contro l ( ) is show n below. <K 91> 3000 Axis 1 Speed VF Positio ning speed . . . 3000 Axis used . . . . . . . . . Axis 1 Speed contr ol ( ) (Forward rotation) (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. [...]

6 - 93 6 POSITIONING CONTROL 6.14 Speed Contr ol ( ) (1) Speed c ontrol f or the spec ified ax is is execut ed. (2) Speed c ontrol not inc ludes positio ning lo ops for contro l of s ervo am plifier s. It can be used f or stop per c ontrol, etc . so t hat it m ay not bec om e error exc essive. (3) Speed control ( ) uses t he VVF (For ward) and VVR [...]

6 - 94 6 POSITIONING CONTROL (3) Even if the spe ed comm and is s et as pr obe data by th e digita l oscill oscope functi on, the v alue o n digital oscillos cope d oes not c hange wi th “0”. [Program ] Program for speed control ( ) is shown as the foll owing condit ions. (1) System configur ation Spee d control ( ) of Axis 3. Q61P Q02H CPU Q17[...]

6 - 95 6 POSITIONING CONTROL (4) Serv o program Serv o program No.55 f or spee d contro l ( ) is shown be low. <K 55> 4000 Axis 3 Speed VVF Positioning speed . . . 4000 Axis used . . . . . . . . . Axis 3 Speed control ( ) (Forward ro tation) (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. [...]

6 - 96 6 POSITIONING CONTROL 6.15 Speed/Position S witching Control 6.15.1 Speed/position switching control star t Spee d/posit ion sw itching contro l for s pecif ied axis is ex ecuted. Spee d/posit ion sw itching control uses th e VPF ( Forwar d rotat ion), VPR (Re verse rotati on) and VPSTART (Re-star t) serv o instruc tions. Ite ms are set in p[...]

6 - 97 6 POSITIONING CONTROL REMARK (Note) : "The external CHANG E signa l input f rom ex ternal sour ce" is inputted to CHANG E of the Q 172LX f rom external so urce. W hen "n ormall y open c ontact inp ut" is set in the system settings, CHANG E input oc curs at the CHANG E signal o n, and when "normally closed contact inp[...]

6 - 98 6 POSITIONING CONTROL (4) Ch ange of the tra vel va lue dur ing spee d contr ol The tra vel va lue for posit ion contr ol can be cha nged dur ing spe ed con trol af ter speed/ posit ion contr ol star t. (a) The t ravel value i s set in indirect specifica tion b y data regi sters (2-wo rd dat a) shown in t he table b elow in t he serv o progr[...]

6 - 99 6 POSITIONING CONTROL The f ollowing ser vo program which perf orms the s peed control f or axis 4 to t he forward d irection at s peed 50000, a nd the posit ion co ntrol of the tra vel value s et in D76, D77 after the CHANG E signal f rom external s ource turns on. <K 11> VPF Speed 50000 Axis 4, D76 Indicates indirect specification of[...]

6 - 10 0 6 POSITIONING CONTROL (2) No speed control Po s i tion cont r o l only is exe cuted if M320 5+20n and C HANGE sign al are tu r nin g on at th e start. The s peed contr olling s ignal (M2 404+2 0n) does not turn on. Speed controlling (M2404+20n) Servo program start Speed switching signal input (CHANGE) ON OFF Speed/position switchin g enabl[...]

6 - 10 1 6 POSITIONING CONTROL [Program ] Progr am f or speed/ positio n switc hing c ontrol is sho wn as the fol lowing c ondit ions. (1) System configur ation Spee d/posit ion sw itching contro l of Ax is 4. Q172 LX MM M M Motion CPU cont ro l modul e Start command (PX000) Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61P Q02H CPU Q172H CPU QX41 ([...]

6 - 10 2 6 POSITIONING CONTROL (4) Serv o program Serv o program No.101 for s peed/pos itio n switc hing co ntrol is sho wn belo w. Speed Axis 4, 40000 <K 1 01> Dwell 1000 VPF Speed . . . . . . . 1 0 0 0 Speed/positi on switching control Dwell . . . . . . . . 1000 1000 Axis used . . . . . Ax is 4 Travel value . . . 40000 (5) Motio n SFC pro g[...]

6 - 10 3 6 POSITIONING CONTROL 6.15.2 Re-starti ng after stop during control Re-star ting (co ntinuing) after stop wit h stop c omm and during s peed/p osition s witchi ng contr ol is exec uted. Re-star ting us es VPSTART servo ins truct ion. Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Others Servo instructi on Positio ning [...]

6 - 10 4 6 POSITIONING CONTROL (b) If the stop occ urred dur ing posit ion contr ol, re-star t with pos ition, an d the posit ioning contro l of s ett in g t ra vel va lu e. The tra vel va lue aft er the r e-star t is ca lculate d as f ollows : Trav el val ue before stop (P1) Travel value after re-start (P2) Setting travel value(P) = - P1 P1: Tr av[...]

6 - 10 5 6 POSITIONING CONTROL [Program ] Progr am for res tarting af ter stop dur ing contr ol with th e speed/pos itio n s witch ing contr ol is sho wn as th e follo wing con ditions . (1) System configur ation Spee d/posit ion sw itching contro l of Ax is 4. Q61P Q02H CPU Q172H CPU Q172 LX QX41 MM M M Motion CPU control module Start command (PX0[...]

6 - 10 6 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for speed /posit ion s witching c ontro l and r e-start ing ar e shown belo w. V 1000 CHANGE signal accept Speed control Posit ion control t Speed/positi on switching enable command (M3265) Speed/posi tion switching latch (M24 65) PLC ready flag (M2000 ) All axes se rvo ON comm[...]

6 - 10 7 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 VPF Axis 4 , 40000PLS Speed 1000PLS/s PX000*M 2475 END Speed /position sw itching co ntrol for Axis 4 Speed/posi tion switching enable co mmand OFF with ax is 4 speed/position swit ching latch ON. Axis 4 st[...]

6 - 10 8 6 POSITIONING CONTROL 6.16 Speed-Sw itching Control (1) P osition ing contr ol perf orms changing t he sp eed on t he point befor ehand se t by one st art. (2) T he spee d-switc hing p oints an d speed are set using t he ser vo progr am. (3) Re petition contro l bet ween an y speed-s witchi ng points can be perform ed by us ing repeti tion[...]

6 - 10 9 6 POSITIONING CONTROL [Control deta ils] Start and end of the s peed- switchi ng contro l Speed- switch ing contr ol is start ed and ended us ing the f ollowi ng instr uctions : (1) VSTART Starts the sp eed-s witching c ontrol . (2) VEND Ends the speed-sw itching con trol. Trave l value s etting to en d address/ end poi nt The tra vel va l[...]

6 - 11 0 6 POSITIONING CONTROL Proc edure of the serv o prog ram and operati on tim ing Serv o program s for speed-switc hing c ontrol and th e operation tim ing are sh own bel ow. [Servo pr ogram ] <K 10 1> VSTART ABS-2 Axis Axis Spee d VABS Axis Spee d VABS Axis Spee d VABS Axis Spee d VEND 4, 3, 4, 4, 4, 80000 60000 2000 20000 7000 60000 6[...]

6 - 11 1 6 POSITIONING CONTROL [Cautions] (1) T he num ber of co ntrol ax es cann ot be ch anged du ring co ntrol. (2) The spe ed-switchi ng point can be specified t he absolute data m ethod (VA BS  ) and incr emental data m ethod (VI NC  ) by mixed us e. (3) Th e speed-swit ching point cann ot be speci fied an addr ess which chan ge in trave[...]

6 - 11 2 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Operat ion tim ing and s peed- switching points f or spe ed-switc hing c ontrol are shown be low. 50000 8000 40000 5000 Axis 3 positioni ng direction V 70000 2000 100000 ON OFF t ON ON ON OFF OFF OFF Axis 2 positioning dir ection PLC read y flag (M2000) All axes ser [...]

6 - 11 3 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the spe ed-swi tching c ontro l is sho wn belo w. SET M2042 VSTART ABS-2 Axis 2 , 1 00000PLS Axis 3, 50000PLS Speed 2000PLS/s VABS Axis 2, 40000PLS Speed 8000PLS/s VABS Axis 2, 70000PLS Speed 5000PLS/s VEND PX000*M2435*M2455 Speed-switching control END S[...]

6 - 11 4 6 POSITIONING CONTROL 6.16.2 Specification o f speed-switching points using r epetition instructions Repetit ion exec ution b etween any spe ed-swi tching p oints. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Ot hers Servo instructi on Positio ning method Number o f contr ol axes Para meter bl ock No. Axis Addr ess/[...]

6 - 11 5 6 POSITIONING CONTROL (3) FOR-OFF (loop- o ut trigg er condition setting) (a) T he repe tition ra nge se t until t he spec ified bi t devic e turns off is ex ecuted repeat edly. (b) T he fol lowing d evices are used as the loop-o ut trig ger co nditio n: 1) In put (X/P X) 2) Outp ut (Y/P Y) 3) Int ernal relay (M)/S pecial relay (SP.M ) 4) [...]

6 - 11 6 6 POSITIONING CONTROL (3) Operati on in condition 3 ON OFF Minor err or [215] occu rred 0 1000 2000 100000 X010 X011 200000 ON OFF Error oc curs bec ause it excee ds the travel v alue to the s top positi on. [Program ] Prog ram for repe tition spe ed-switchi ng control i s shown as th e followin g condition s. (1) System configur ation Spe[...]

6 - 11 7 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Operat ion tim ing and s peed- switching points f or spe ed-switc hing c ontrol are shown be low. 100000 V 50000 100000 50000 50000 t 150000 200000 Axis 3 positio ning direction Axis 2 positioning directi on PLC ready fla g (M2000) All axe s servo ON command (M2042) [...]

6 - 11 8 6 POSITIONING CONTROL (4) Serv o program Serv o pr ogram No. 501 for spee d-switc hing con trol by the r epetitio n instruc tion is shown be low. Axis 3, Axis 2, <K 501> Speed VSTART INC -2 VINC FOR- TIMES NEXT VEND Axis 2, Speed VINC Axis 2, Speed VINC Axis 2, Speed 10000 Starts speed-switchi ng control 40000 K 2 100000 230000 4000 [...]

6 - 11 9 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes speed- switch ing contro l usin g repeti tion inst ructions i s show n below. Specifi cation of speed -s wit ching points usi ng repetition inst ructions SET M2042 VSTART INC-2 Axis 2, Axis 3, Spee d VINC Axis 2, Spee d FOR -TIME S K 2 VINC Axis 2, Spee [...]

6 - 12 0 6 POSITIONING CONTROL 6.17 Constant-Spee d Control (1) Positi oning to the pas s point bef orehand set by one star ting is ex ecuted wit h the specif ied pos itioning m etho d and p ositionin g speed. (2) T he posi tioning m ethod an d posit ioning speed c an be c hanged f or each pass point. (3) T he follo wing par ameter s is set in the [...]

6 - 12 1 6 POSITIONING CONTROL [Operat ion tim ing] Operat ion tim ing for c onstant- speed c ontrol is show n belo w. [Exam ple : Op eration timing for 2 ax es const ant-spe ed contr ol] Change spee d after speed-switch ing Axis 3 p ositioning directi o n P1 8000 0 60000 Axis2 positionin g direction P2 P3 15000 Pos itioni ng spee d for 2 axes line[...]

6 - 12 2 6 POSITIONING CONTROL (b) T he spee d switch ing and c hang e speed by CHGV instr uction ar e execu ted toward the sam e progr am in th e servo pr ogram . The l ower of t he speed chang e by CHG V instr uctions and th e comm and speed in th e servo program is select ed. The s peed ch ange b y CHGV ins truct ions ar e execu ted if the spe e[...]

6 - 12 3 6 POSITIONING CONTROL Exam ple) Ma in c y c le: 20[ ms], Comm and spe ed: 600 [mm / m in] If the c omm and speed ( 600[m m/min]) is divi ded b y 6 0, the c omm and speed per seco nd is 10[mm/s ], and if the m ain c y c le (20 [ms ]) is divid ed by 10 00, the m ain cyc le is 0.02[s]. Theref ore, the tra vel dista nce is as follo w. 10[mm /s[...]

6 - 12 4 6 POSITIONING CONTROL 6.17.1 Specification o f pass points by repetition instructi ons This s ection des cribes th e method of the pas s points for which exec utes bet ween an y pass points repeatedl y. Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Othe rs Servo instructi on Positio ning method Number o f contr ol axe[...]

6 - 12 5 6 POSITIONING CONTROL (3) FOR-OFF (loop- o ut trigg er condition setting) (a) T he repe tition ra nge se t until t he spec ified bi t devic e turns off is ex ecuted repeat edly. (b) T he fol lowing d evices are used as the loop-o ut trig ger co nditio n: 1) In put (X/P X) 2) Outp ut (Y/P Y) 3) Int ernal relay (M)/S pecial relay (SP.M ) 4) [...]

6 - 12 6 6 POSITIONING CONTROL [Program ] Progr am for repetit ion cons tant-s peed con trol is sho wn as the f ollo wing con ditions . (1) System configur ation Consta nt-spee d control for Axis 2 and Ax is 3. MM M M Motion CPU control module Start command (PX000) Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61P Q02H CPU Q172H CPU Q172 LX QX41 (2)[...]

6 - 12 7 6 POSITIONING CONTROL (3) Oper ation timing Operat ion tim ing for c onstant- speed c ontrol is show n belo w. Axis 3 positioning dir ection 100000 40000 80000 20000 10000 V 60000 100000 200000 50000 150000 Radius 20000 t Axis 2 po sition ing dir ection Combined speed 0 PLC ready flag (M2000) A ll axes servo ON command (M2042) Axis 2 se rv[...]

6 - 12 8 6 POSITIONING CONTROL (4) Serv o program Serv o program No.510 for cons tant-s peed co ntrol is shown below. Axis 2 <K 510> 40000 ABS-2 Speed Axis 3 CPSTART 2 Axis 2, Axis 3, FOR- TIMES 10000 CPEND NEXT INC -2 Radius INC Axis 2, Axis 3, Axis 2, Axis 3, 20000 0 K 4 30000 Positioning speed . . . 10000 20000 20000 20000 Start constant- [...]

6 - 12 9 6 POSITIONING CONTROL 6.17.2 Speed-sw itching by instruction ex ecutio n The s peed ca n be spec ified for each pass p oint dur ing the c onstan t-spee d contro l inst r uction . The s peed ch ange from a point c an be s pecif ied direc tly or indir ectl y in the ser vo program . [Cautions] (1) T he spee d switch ing dur ing ser vo instr u[...]

6 - 13 0 6 POSITIONING CONTROL [Program ] Program for which exec utes th e speed- switch ing con trol b y turnin g on M20 40 duri ng const ant-speed instruc tion i s shown as the f ollowing condit ions. (1) System configur ation Switch es sp eed for Axis 1 and Ax is 2. MM M M Motion CPU control module St art c omm and ( PX00 0) Axis 4 Axis 1 Axis 2[...]

6 - 13 1 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Opera tion tim ing an d posit ions for speed s witchi ng are s hown below. 2000 0 P1 P2 40000 P4 20000 Axis 2 positioni ng direction P3 10000 Center poin t 15000 V t 40000 PLC read y flag (M2000) All axes ser v o ON command (M2042) Axis 1 servo ready (M2415) Start co[...]

6 - 13 2 6 POSITIONING CONTROL (4) Serv o program Serv o program No.310 for spe ed-switc hing is shown belo w . Axis 1 CPEND Axis 2 20000 30000 ABS-2 <K 310> Speed CPSTART 2 Axis 1, Axis 2, ABS Axis 1, Axis 2, Center 1, Center 2, ABS-2 Axis 1, Axis 2, Speed ABS-2 Axis 1, Axis 2, 10000 30000 20000 10000 Set P3 10000 25000 40000 15000 50000 400[...]

6 - 13 3 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 CPSTART2 Axis 1 Axis 2 Speed 10 0 00PL S /s ABS- 2 Axis 1, 2000 0 PLS Axis 2, 1000 0 PLS ABS Axis 1, 30000PLS Axis 2, 2000 0 PLS Center 1, 30000PLS Center 2, 10000PLS ABS- 2 Axis 1, 40000PLS Axis 2, 25000PLS[...]

6 - 13 4 6 POSITIONING CONTROL 6.17.3 1 axis constant-speed control Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Othe rs Servo instructi on Pos i t ioning method Number o f contr ol axes Para meter bl ock No. Axis Addr ess/trav el valu e Comman d s p eed Dwell tim e M-code Tor q ue limi t val ue Auxiliar y p oint Radius Centr[...]

6 - 13 5 6 POSITIONING CONTROL [Program ] Prog ram for re petition 1 axis consta nt-speed control is s h own as the fo llowing condit ions. (1) System configur ation Axis 4 const ant-spe ed co ntrol. MM M M Motion CPU cont ro l modul e Positioning start command (PX000) Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61P Q02H CPU Q172H CPU Q172 LX QX41[...]

6 - 13 6 6 POSITIONING CONTROL (4) Oper ation timing Operat ion tim ing for s ervo p rogram No. 500 is shown below. V P1 P2 P3 10000 -10000 P4 t P2 P3 PLC read y flag (M2000) All axes s e rvo ON command (M2042) Axis 4 s ervo ready (M247 5) Start comm and (PX000 ) Servo p rogram start Axis 4 start ac cept flag (M2004 ) All axes servo ON accept flag [...]

6 - 13 7 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 CPSTART1 Axis 4 Speed 10000PLS / s INC-1 Axis 4, -1000PLS FOR-TI MES K 1 00 INC-1 Axis 4, 2000PLS INC-1 Axis 4, -2000PLS NEXT INC-1 Axis 4, 1 000PLS CPEND PX000*M2475 END 1 axis constant-speed control !PX00[...]

6 - 13 8 6 POSITIONING CONTROL 6.17.4 2 to 4 ax es constant-speed control Consta nt-speed c ontrol for 2 t o 4 axes. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Others Servo in structi on Pos i t ioning method Number o f contr ol axes Para meter bl ock No. Axis Addr ess/trav el valu e Comman d s p eed Dwell tim e M-code Tor[...]

6 - 13 9 6 POSITIONING CONTROL [Control deta ils] Start and end f or 2 t o 4 axe s constan t-speed contro l 2 to 4 ax es co nstant-sp eed contr ol is s tarted and end ed using the fo llowing instru ctions: (1) CPSTART2 Starts the 2 ax es cons tant-s peed con trol. Sets t he axis No. and c omm and spee d. (2) CPSTART3 Starts the 3 ax es cons tant-s [...]

6 - 14 0 6 POSITIONING CONTROL (6) ABS /INC , ABS/INC Sets c ircular interp olation c ontro l using center p oint spec ificat ion. Refer t o Sec tion 6.8 "Centr al Poin t-Spec ified Circular Interpo latio n Contr ol" for deta ils. [Program ] (1) Program for 2 axes con stant-s peed co ntrol is shown as the fo llowin g condi tions. (a) Syst[...]

6 - 14 1 6 POSITIONING CONTROL (c) P ositioni ng cond itions 1) Cons tant-s peed co ntrol con ditions are sh own belo w. Item Setting Servo program No. 505 Positioning speed 10000 Positioning method 2 axes linear interpolation Radius-specified circular interpolation 2 axes linear interpolation Axis 2 30000 50000 90000 Pass point Axis 3 30000 50000 [...]

6 - 14 2 6 POSITIONING CONTROL (e) Motion SFC program Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 CPSTART2 Axis 2 Axis 3 Speed 10000PLS/s ABS-2 Axis 2, 30000PLS Axis 3, 30000PLS ABS Axis 2, 50 0 00PLS Axis 3, 50000 P L S Radius ABS-2 Axis 2, 90 0 00PLS Axis 3, 100000PLS CPEND PX000*M2435*M2455 END !PX000 [...]

6 - 14 3 6 POSITIONING CONTROL (b) Position ing c onditions 1) Cons tant-s peed co ntrol con ditions are sh own belo w. Item Setting Servo program No. 506 Positioning speed 10000 Positioning method 4 axes linear interpolation 4 axes linear interpolation 4 axes linear interpolation Axis 1 3000 5000 5000 Axis 2 4000 3500 3500 Axis 3 4000 -4000 3000 P[...]

6 - 14 4 6 POSITIONING CONTROL (d) Motion SFC program Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 CPST ART4 Axis 1 Axis 2 Axis 3 Axis 4 Speed 10000PLS/s INC-4 Axis 1, 3000P LS Axis 2, 4000P LS Axis 3, 4000P LS Axis 4, 4000P LS INC-4 Axis 1, 5000P LS Axis 2, 3500PLS Axis 3, -4000PLS Axis 4, -6000PLS INC-4 A[...]

6 - 14 5 6 POSITIONING CONTROL 6.17.5 Constant speed control for helical interpol ation The he lical interpo lation c an be specif ied as t he posi tioning c ontro l metho d to pass point f or 3 or 4 axes c onsta nt-speed c ontrol . Start ing or e nding ins truct ion for co nstant-s peed c ontrol uses th e same C PSTART 3, CPST ART4 or C PEND as 3 [...]

6 - 14 6 6 POSITIONING CONTROL Helic al inter polatio n specif ied m ethods f or cons tant-s peed con trol ar e show n belo w. Servo instruction Positioning method Circular interpolation specified method ABH Absolute INH Incremental Radius-specified meth od less than C W 180° ABH Absolute INH Incremental Radius-specified meth od less than CC W 180[...]

6 - 14 7 6 POSITIONING CONTROL [Cau tions] (1) T he hel ical i nterpol ation s pecific atio n at pass poin t for c onstant-s peed c ontrol c an be used in the both of real and virtual m ode. (2) Specif y any 3 axes am ong 4 contro lled axes in the helical interpol ation c ontrol at the pas s point f or 4 axes c onsta nt-speed c ontrol ( CPST ART4).[...]

6 - 14 8 6 POSITIONING CONTROL 6.17.6 Pass point skip functi on This functio n stops positio ning to execut ing po int and ex ecutes positi oning to next point, by sett ing a sk ip sign al towar d each pass po int for constant-s peed control. [Data setti ng] (1) Skip signal devices The fo llowing devi ces can be spec ified as skip s i gnal devices.[...]

6 - 14 9 6 POSITIONING CONTROL CAUTION When a skip is specified during const ant-speed control and the axis which has no stroke range [degree] is included, t he operation at the execution of skip is described. (Note-1): If there is an ABS instru ction after the skip in these conditions, the end posit ioning point and the trav el distance in the pro[...]

6 - 15 0 6 POSITIONING CONTROL 6.17.7 FIN signal w ait function By sel ecting the FI N signal wai t functio n and setting a M- code at each ex ecuting poin t, a proc ess end of eac h execut ing po int is s ynchron ized wit h the FI N signa l, the FI N sign al turns ON to OFF and then the ne xt positioni ng is execut ed. Turn th e FIN s ignal on/ of[...]

6 - 15 1 6 POSITIONING CONTROL [Program exam ple] (1) FIN sig nal wait function by the PLC program (a) System configur ation FIN s ignal wa it funct ion to ward const ant-spe ed contr ol for Axis 1 and Ax is 2. MM M M PLC CPU control modul e Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61P Q02H CPU Q172H CPU Q172 LX QX41 Positioning start command :[...]

6 - 15 2 6 POSITIONING CONTROL (c) Servo program Serv o program No.0 f or cons tant-spe ed contro l is sh own be low. <K 0 > Start constant-speed control ABS-2 Axis 2, 200000 Axis 1, 200000 Speed 10000 Axis 2 Axis 1 CPSTART2 M-cod e 1 0 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11 ABS-2 Axis 1, 3 50000 Axis 2, 3 00000 M-code 12 ABS-2 Axis 1,[...]

6 - 15 3 6 POSITIONING CONTROL (e) PLC program PLC pr ogram for FIN si gnal wa it functi on is s hown bel ow. Motion SFC program start request 0 11 14 26 X0 M0 M2419 M2419 END M3219 SET SP.SFCS H3E1 M0 D0 K110 M3219 RST 28 SP.DDRD H3E1 D1 M2 D13 D50 K1 D51 MOVP M3219 is set PLC pro gram Substitutes 1 for D51 after pr ogram start. Reads data of D13 [...]

6 - 15 4 6 POSITIONING CONTROL (2) FIN sig nal wai t f uncti on using the Motion SFC progr am (a) System configur ation FIN s ignal wa it funct ion to ward const ant-spe ed contr ol for Axis 1 and Ax is 2. QX41 QY41 MM M M Motion CPU control module Axis 4 Axis 1 Axis 2 Axis 3 QY41 PX020 ~PX02F PX010 ~PX01F PX000 ~PX00F AMP AMP AMP AMP Q61P Q02H CPU[...]

6 - 15 5 6 POSITIONING CONTROL (c) Servo program Serv o program No.0 f or cons tant spee d contr ol is sho wn be low. <K 0 > Start constant-speed control ABS-2 Axis 2, 200000 Axis 1, 200000 Speed 10000 Axis 2 Axis 1 CPSTART2 M-cod e 1 0 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11 ABS-2 Axis 1, 3 50000 Axis 2, 3 00000 M-code 12 ABS-2 Axis 1,[...]

6 - 15 6 6 POSITIONING CONTROL (d) Motion SFC program 1) Mot ion SFC progr am f or constant- speed contro l is sh own belo w. SET M2042 PX000*M2415*M2435 Constant-speed control ABS-2 Axis 2 , 200000 Axis 1 , 200000 Speed 10000 Axis 2 Axis 1 CPSTART2 M-code 10 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11 ABS-2 Axis 1, 350000 Axis 2, 300000 M-code 1[...]

6 - 15 7 6 POSITIONING CONTROL 2) Mot ion SFC program whic h outputs M-code of each point f or cons tant- speed c ontro l to PY2 0 to P Y2F by BC D code is sho wn belo w. FIN sign al wai t M2419*M2 439 END #0=BCD(D13) DOUT Y20,#0 SET M3 219 P0 P0 RST M3219 !M2419*! M2439*M240 3*M2423 D13==K12 Turn on FIN signal. Output Axis 1 M-code. Turn on Ax is [...]

6 - 15 8 6 POSITIONING CONTROL POINT (1) T he fixe d acceler ation/ deceler ation tim e m ethod is accelera tion/dec elerat ion proces sing that t he tim e which ac celera tion/dec elerati on tak es is fix ed, ev en if t he comm and spee d di ffers. A ccelerati on/deceleration tim e i s fixed V t (a) T he follo wing pr ocessin g and p arameters are[...]

6 - 159 6 POSITIONING CONTROL 6.18 Position Follow -Up Control Posit ioning t o the a ddress s et in the word de vice of the Mot ion CPU s pecif ied wit h the servo pr ogram at one s tart i s execute d. Posit ion fo llow-up c ontro l is s tarted using th e PFST ART ser vo progr am inst ructio n. Ite ms are set in per ipheral dev ices Commo n Arc Pa[...]

6 - 160 6 POSITIONING CONTROL [Cautions] (1) Num ber of control axes is 1 ax is. (2) Only the abs olute data m ethod (ABS  ) is used for positio ning con trol to the pa ss points . (3) Th e speed can be c h anged during the start. The c hanged s peed is effec tive unt il the s top com mand is input . (4) S et the p ositioni ng addr ess in the se[...]

6 - 161 6 POSITIONING CONTROL (3) Oper ation timing Oper ation timin g for positio n follow - u p control is show n below. 0 V t 100 0 PLC ready flag ( M2000) All axes ser vo ON command (M2042) All axes s ervo O N acc ept fl ag (M2049) Axis 3 se rvo ready (M2455) Start command (X0) Servo prog ram start Axis 3 start accept fl ag (M2003) Axis 3 stop [...]

6 - 162 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram , PLC progr am and param eter sett ing for posit ion fo llow-up cont rol is shown be low. (a) Motion SFC program Motion SFC pr ogram example f or pos ition f ollo w-up co ntrol is shown below. This program is star ted usi ng S(P). SFCS instruc tion f rom PLC C PU (CPU No.1).[...]

6 - 163 6 POSITIONING CONTROL (b) PLC program PLC pr ogram example f or p osition f ollow- up contro l is s hown be low. Substitutes 2 for D51 after progr am start. 0 5 SM400 X0 M20 RST SP.DDWR H3E1 D4000 M0 D1000 D50 K2 D61 MOVP PLC prog ram 18 30 4 2 M10 M0 M2 M20 RS T 66 M30 END 81 K2 D51 MOVP M10 PLS M3240 M30 RS T X1 M1 M0 M3 SP.SFCS H3E 1 M2 [...]

6 - 164 6 POSITIONING CONTROL (c) Parameter settin g The C PU shar ed mem ory settin g exam ple for p osition follow-u p contr ol is shown be low. CP U No. 1 (PLC CPU) (GX De velop er) Multiple CPU Setting (setting 1: M 2400 to M 2495) CPU shar ed memo ry setti ng Multiple CPU Setting (setting 2: M 3200 to M 3295) CPU shar ed memory setting CPU N o[...]

6 - 165 6 POSITIONING CONTROL 6.19 Speed control w ith fixed position stop Spee d contro l with f ixed pos itio n stop of the s pecifie d axis is exec uted. Spee d control with f ixed pos ition s top is start ed usin g the PVF (for ward ro tation) or PVR (r everse rot ation) of ser vo program instruc tion. Ite ms are set in per ipheral dev ices Com[...]

6 - 166 6 POSITIONING CONTROL (4) A ddress s etting r ange i s 0 to 35 999999 (0 to 3 59.999 99[degre e]) in the indirec t settin g of pos itioni ng addr ess. If it is set outs ide the s etting r ange, a servo program settin g error [ n03] oc curs and it does not star t. Pos itionin g addres s is input a t the pr ogram start. (5) It is contr olled [...]

6 - 167 6 POSITIONING CONTROL (10) D eceler ation sp eed b y the sto p com mand (M 3200+20 n)/rapid stop com mand (M320 1+20n) is contr olled wit h fix ed inclin ation ( decele ration s peed). Deceler ation pr ocessin g is execu ted using th e speed li mit valu e or decel eration/ rapid sto p deceler ation tim e set in the par ameter bl ock. OFF ON[...]

6 - 168 6 POSITIONING CONTROL (2) Positi onin g condi tions (a) Spee d control wi th fixed po sition stop cond itions are shown below. Item Setting Servo program No. 55 Start direction Forward Control axis Axis 1 Positioning address 120.00000[degree] Control speed 30000[degree/min] Acceleration/deceleration time 20ms Fixed position stop com mand de[...]

6 - 169 6 POSITIONING CONTROL (4) Serv o program Serv o program No.55 f or spee d contro l with f ixed pos ition s top is s hown be low. PVF Axis Speed 120.00000 <K 55> 1, 30000.000 20 M100 Fixed posit ion stop command Accel./decle. time Axi s used . . . . . . . . . . . . . A xis 1 Stop position . . . . . . . 120.00000 Speed . . . . . . . . .[...]

6 - 170 6 POSITIONING CONTROL 6.20Simultaneous Star t Simul taneous s tart of the sp ecified s ervo program at one s tart is ex ecuted . Simul taneous start is start ed us ing the START servo pr ogram instruct ion. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Oth ers Servo instructi on Positio ning method Number o f contr ol[...]

6 - 171 6 POSITIONING CONTROL [Program ] Prog ram for simul taneou s start is sh own as the follow ing conditio ns. (1) System configur ation Simu ltaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4. Start command (PX000) MM M M Motion CPU control module Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61P Q02H CPU Q172H CPU Q172 LX QX4[...]

6 - 172 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. Simultaneous start control SET M2 042 PX000*M2415*M2435*M 2455 *M2475 END !PX000 STA RT K 1 K 1 4 K 4 5 Turn on all axes servo ON command. Wait until PX000, A xis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready a[...]

6 - 173 6 POSITIONING CONTROL 6.21 JOG Operation The s etting JOG oper ation i s execu ted. Indiv idual star t or sim ultane ous start c an be us ed in t he JO G operat ion. JOG op eration c an be execute d using the Moti on SFC program or test m ode of perip heral d evice. (Refer to the h elp of each s oftware f or JOG operatio n m ethod using a p[...]

6 - 174 6 POSITIONING CONTROL 6.21.2 Indivi dual start JOG op eration f or th e specif ied ax es is st arted. JOG op eration is exec uted b y the fo llowing J OG oper atio n comm ands: • For ward JOG st art com mand ..... ...... M32 02+20n • Revers e JOG s tart com mand ..... ...... M32 03+20n [Control deta ils] (1) JO G oper ation c ontinu es [...]

6 - 175 6 POSITIONING CONTROL (2) The se tting range for JOG speed sett ing registe rs are shown below . Setting ran ge JOG ope ration JOG sp eed setti ng registe r m m inch degre e PLS No. (Note) Forwar d JOG Re verse JO G Most sig nifica nt Least signific ant Setting rang e Units Setting rang e Units Setting rang e Units Settin g rang e Units 1 M[...]

6 - 176 6 POSITIONING CONTROL [Cautions] (1) If the for ward JOG start c omm and (M3202 +20n) an d revers e JOG s tart com mand (M320 3+20n) turn on s imult aneous ly for a single axis, t he for ward JO G operat ion is ex ecuted. W hen a deceler ation s top is made b y the for ward JOG start c ommand O FF th e revers e JOG o peratio n is no t execu[...]

6 - 177 6 POSITIONING CONTROL (3) JO G opera tion b y the JO G opera tion com mand ( M3202+2 0n/M32 03+20n) is not execu ted dur ing the tes t mode using a periph eral de vices. After r elease of test m ode, t he JOG operati on is ex ecuted by turn ing the J OG operat ion com mand of f to on. During tes t mode (M9075) JOG operation ON t V ON JOG op[...]

6 - 178 6 POSITIONING CONTROL (3) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes JOG op eration is sho wn below . Transfer the JOG operation speed to D640L and D642L. SET M2042 M2415*M2435 JOG operation-individual start Ax is 1, A xis 2 f orwa rd/r eve rse JO G op erati on P1 P1 D640L=K100000 D64 2L=K 10 0000 SET M3202=PX003 * !M3203 [...]

6 - 179 6 POSITIONING CONTROL 6.21.3 Simultaneous st art Simu ltaneous start JOG o peratio n for s pecif ied m ultiple axes. [Control deta ils] (1) JO G oper ation contin ues a t the JOG spee d sett ing reg ister value f or each axis while t he JOG operat ion si multaneo us star t comm and (M204 8) turns on, and a decel eration s top is made b y th[...]

6 - 180 6 POSITIONING CONTROL (3) The se tting range for JOG speed sett ing registe rs are shown below . Settin g range JOG ope ration JO G speed sett ing regis ter mm inch degree PLS No. (Note) Forwar d JOG Revers e JOG Most signifi cant Least signif icant Settin g rang e Units Setting rang e Units Setting rang e Units Setting rang e Units 1 M3202[...]

6 - 181 6 POSITIONING CONTROL [Program ] Program for s imultane ous st art of J OG opera tions ar e sho wn as the follo wing condit ions. (1) System configur ation JOG op erati on for Ax is 1 a nd Ax is 2. JOG operation command (PX000) MM M M Motion CPU cont r ol m odule Axis 4 Axis 1 Axis 2 Axis 3 AMP AMP AMP AMP Q61P Q02H CPU Q172H CPU Q172 LX QX[...]

6 - 182 6 POSITIONING CONTROL 6.22 Manual Puls e Generator Operation Po s i tioning con trol based on the number of pulses in putted fro m t he manual pulse genera tor is executed. Simul taneous opera tion for 1 to 3 ax es is possi ble with one m anual puls e gener ator, the num ber of c onnecta ble m odules are shown below. Number of connectable t[...]

6 - 183 6 POSITIONING CONTROL (b) O utput sp eed The ou tput spe ed is th e posit ioning speed c orresp onding t o the n umber of pulses input from a manual pu lse gener ator in uni t time. [Output sp eed] = [Number of input pulses per 1[ms]] [Manual pulse generator 1- pulse input magnification setting] (3) Settin g of the axis op erated b y t he m[...]

6 - 184 6 POSITIONING CONTROL (5) T he setti ng m anual pul se gener ator 1- pulse input m agnificat ion chec ks th e "1- pulse input m agnific ation s etting r egister s of th e manual pulse g enerator " of th e applic able axis at the turnin g manual p ulse gener ator ena ble flag tur ns off to on. If the value is outs ide of r ange, t [...]

6 - 185 6 POSITIONING CONTROL (7) E rrors detail s at the data setting for manual pu lse gene rator operatio n are sh own below. Error details Error processing Axis set to manual pu lse generator operation is specified. • Duplicated specified ax is is ignored. • First setting manual pul se generator operation is executed. Axis setting is 4 ax e[...]

6 - 186 6 POSITIONING CONTROL (5) If t he manual pu lse genera tor enabl e flag tur ns on again fo r axis dur ing smoothin g decel eration af ter manua l p ulse gener ator ena ble flag turns off, an error [2 14] is set an d manu al puls e gener ator input is no t enable d. Turn t he man ual puls e genera tor ena ble flag on aft er smooth ing dece l[...]

6 - 187 6 POSITIONING CONTROL [Program ] Progr am execu tes m anual puls e gener ator op eration is s hown as t he fol lowing condit ions. (1) System configur ation Manu al pulse ge nerator o peration of Axis 1 an d Axis 2. Manual pul s e generat or enable flag (M2051 : P1, M2052 : P2) MM M M Motion CPU control module Axis 4 Axis 1 Axis 2 Axis 3 Ma[...]

6 - 188 6 POSITIONING CONTROL 6.23 Home Positi on Return (1) Us e the home pos ition retur n at th e power suppl y ON and ot her t imes wher e confir matio n of axis is at the m achine home pos itio n is r equired. (2) T he foll owing s ix m ethods for home p osition return ar e shown below. • Prox imit y dog t y p e • Coun t type • Data s et[...]

6 - 189 6 POSITIONING CONTROL MEM O[...]

6 - 190 6 POSITIONING CONTROL 6.23.1 Home position r eturn data This data is used to execute the hom e posit ion ret urn. Set t his data usin g a per iphera l devic e. Table 6.3 Home p osition return data list Settin g range mm i nch degree P LS Ind irect setting No. Item Setting range Units Setting ran ge Units Settin g range Units Settin g range [...]

6 - 191 6 POSITIONING CONTROL Remarks Explanat ory section • The home po sition ret urn direct ion is set. • T he hom e positio n retu rn meth od is set . • The proximi ty dog t y pe or count ty pe are rec ommended for the servo a m p lifier w hich does not su pport abs olute v alue. • The curr ent value of h ome posi tion after th e home p[...]

6 - 192 6 POSITIONING CONTROL (1) Trav el v a lue after proximity dog ON (a) T he trav el va lue after prox imit y dog ON is se t to ex ecute t he count type home pos iti on return. (b) After th e prox imit y dog ON, t he hom e pos ition is the f irst ze ro-po int after trav el by th e settin g travel value. (c) S et the tr avel v alue afte r proxi[...]

6 - 193 6 POSITIONING CONTROL (2) Home posit ion return retry function/dw ell time at the home position return retry (a) V alid/in valid of h ome p osition r eturn retr y is se t. (b) W hen the valid of hom e position return retry fu nction is set, the tim e to sto p at retur n of tra vel direc tion is set wi th dwell time a t the hom e positi on r[...]

6 - 194 6 POSITIONING CONTROL (3) Home posit ion shift amount/speed set at t he home position shift (a) T he shif t (trav el) am ount fr om posi tion sto pped b y home pos ition r eturn is set. (b) If the hom e pos ition s hift am ount is positiv e value , it shif ts from detec ted zero point si gnal t o addres s incre ase d irecti on. If it is ne [...]

6 - 195 6 POSITIONING CONTROL (d) Valid/in valid of the s etting value f or hom e positio n shif t amount by the hom e posi tion retu rn method i s shown below . Home position return methods Valid/invalid of home positio n shift amount Proximity dog ty pe Count type Data set type Dog cradle type Stopper type Limit switch comb ined type : Val id, : [...]

6 - 196 6 POSITIONING CONTROL (5) Operati on setting for incompletion of home posi tion return (a) O perat ion in s electi ng "0: Execute servo pr ogram " 1) S ervo pro gram c an be ex ecuted e ven if th e hom e positi on return r eques t signal (M2409+2 0n) is ON. (b) O peratio n in s electi ng "1: Not execut e serv o progra m"[...]

6 - 197 6 POSITIONING CONTROL (b) In put of h ome pos ition r eturn In the indirec t settin g b y t he word d evices , the sp ecified word dev ice dat a are read at s ervo progr am execut ion by Motio n CPU. Set data to devices f or indir ect setting and t hen execut e the start r equest of ser vo program at home position r eturn. POINT (1) In dire[...]

6 - 198 6 POSITIONING CONTROL 6.23.2 Home position r eturn by the proximity dog t y pe 1 (1) Prox imity dog type 1 Zero po int posit ion after pr oxim ity dog ON to OFF is hom e position i n this method. W hen it does n ot pass ( zero pas s sig nal: M24 06+20n O FF) th e zero point fr om home pos ition r eturn s tart to decelera tion sto p b y pr o[...]

6 - 199 6 POSITIONING CONTROL (4) Cauti ons (a) Keep the proxi mity dog ON du ring decel eration fr om th e home po sition return s peed to the cre ep spee d. If the pr oxim ity dog t urns O FF befor e decel eration to the cre ep speed , a decel eration sto p is made a nd the next zero point is set as t he home posit ion. ON Proximity dog Setting c[...]

6 - 200 6 POSITIONING CONTROL (c) W hen it d oes no t pass ( zero pass signa l: M2406 +20n ON) the zer o poin t from home pos ition r eturn s tart to deceler ation s top b y proxim ity dog ON to OFF, a minor error "ZCT not s et" (error code: 120) wi ll occ ur, a dece leratio n stop is made a nd hom e posi tion ret urn does not end norm al[...]

6 - 201 6 POSITIONING CONTROL 6.23.3 Home position r eturn by the proximity dog t y pe 2 (1) Prox imity dog type 2 Zero po int posit ion after pr oxim ity dog ON to OFF is hom e position i n this method. W hen it passed (zer o pass signa l: M2406+2 0n ON) the zer o point from home posit ion retur n star t to dec eleratio n stop by prox imit y dog O[...]

6 - 202 6 POSITIONING CONTROL (4) Cauti ons (a) A system which t he ser vomotor can rot ate on e time or more is requ ired. (b) W hen a ser vomotor stops with sp ecified condit ion ena bles and rotates to revers e direc tion one tim e after proxim ity dog O N, m ake a s ystem f or which does not tur n OFF the exter nal upper /lower s troke lim it. [...]

6 - 203 6 POSITIONING CONTROL 6.23.4 Home position r eturn by the count type 1 (1) Count ty pe 1 After t he pr oximit y dog ON , the zero poi nt after the s pecifie d dist ance (tr avel value after pr oxim ity dog O N) is home pos ition i n this m ethod . (If t he prox imit y dog si gnal of s ervo amplifi er is us ed, the c ount t ype 1 ho me posit[...]

6 - 204 6 POSITIONING CONTROL (4) Cauti ons (a) Hom e pos ition ret urn and c ontinu ousl y s tart of home pos ition ret urn ar e also possib le in t he proxim ity d og ON i n the co unt t ype 1. W hen the hom e position return or cont inuousl y start of hom e positi on return are ex ecuted in the proxim ity dog O N, the hom e posit ion retur n is [...]

6 - 205 6 POSITIONING CONTROL 6.23.5 Home position r eturn by the count type 2 (1) Count ty pe 2 After t he pr oximit y dog ON , the p osition which travele d the s pecifie d dist ance (tra vel val ue after proxim ity dog ON) is hom e posi tion in this m ethod. It is n ot relat ed for zero po int pass or not pass. (If the pr oximit y dog si gnal of[...]

6 - 206 6 POSITIONING CONTROL 6.23.6 Home position r eturn by the count type 3 (1) Count ty pe 3 After t he pr oximit y dog ON , the zero poi nt after the s pecifie d dist ance (tr avel value after pr oxim ity dog O N) is home pos ition i n this m ethod . (If t he prox imit y dog si gnal of s ervo amplifi er is us ed, the c ount t ype 3 ho me posit[...]

6 - 207 6 POSITIONING CONTROL (3) Home posit ion return execution Home pos itio n return by the count t ype 3 is execut ed usin g the s ervo pr ogram in Secti on 6.23.16. (4) Cauti ons (a) A system which t he ser vomotor can rot ate on e time or more is requ ired. (b) After the prox im ity dog ON, when a ser vomotor r otates one time to rev erse di[...]

6 - 208 6 POSITIONING CONTROL 6.23.7 Home position r eturn by the data set type 1 (1) Data set ty pe 1 The prox imit y d og is not use d in this metho d for the abs olute posi tion system . (2) Home posit ion return by the data set ty pe 1 Home pos itio n is the comman d positi on at t he hom e positio n return o peratio n. Home position return by [...]

6 - 209 6 POSITIONING CONTROL 6.23.8 Home position r eturn by the data set type 2 (1) Data set ty pe 2 The prox imit y d og is not use d in this metho d for the abs olute posi tion system . (2) Home posit ion return by the data set ty pe 2 Home pos itio n is the real p osit ion of ser vom otor at t he hom e positio n retur n operat ion. Machine tra[...]

6 - 210 6 POSITIONING CONTROL 6.23.9 Home position r eturn by the dog cradl e type (1) Dog cradl e t y pe After dec elerat ion stop b y the proxim it y do g ON, if the zer o point is pas sed after trave ling to re verse directio n and turning the prox imit y dog OFF , the d eceler ation stop is made . And it moves to direc tion of hom e positio n r[...]

6 - 211 6 POSITIONING CONTROL (b) If the hom e pos ition r eturn is execu ted in the prox im ity dog, it travels to revers e direct ion of home p osition r eturn. If prox imit y dog tur ns OFF , a decel eration s top is made, it travels to d irection of home pos ition retur n again wit h the creep speed an d the first zer o point aft er proxim ity [...]

6 - 212 6 POSITIONING CONTROL (c) W hen th e proxim ity do g is s et in the home p osition return direct ion, th e proxim ity do g is t urned O FF dur ing tra vel to r evers e dire ction of home posit ion retur n, and t he zer o poi nt is not passed , it con tinues t o trave l in th e revers e direct ion of home pos ition r eturn wi th hom e positi[...]

6 - 213 6 POSITIONING CONTROL (d) W hen it st arts i n the pr oximit y dog, t he zero point i s not pas sed at t he tim e of the pr oximit y dog is turned OFF dur ing tra vel to re verse direct ion of home posit ion retur n, it continu es to trav el wit h home p osition r eturn sp eed un til the ze ro point i s passe d. The ze r o poi nt is passe d[...]

6 - 214 6 POSITIONING CONTROL 6.23.10 Home positi on return by the stopper type 1 (1) Stopper ty pe 1 Posit ion of stopper is hom e pos ition in this m ethod. It tra vels to t he direc tion set in th e "hom e posit ion ret urn dir ection" with t he "hom e posit ion retur n spee d", after a dece lerat ion starts by pr oxim ity do[...]

6 - 215 6 POSITIONING CONTROL (4) Cauti ons (a) A zero poi nt does not m ust be passe d ( zero pass signal: M24 06+20n ON) between turnin g on th e power s uppl y and exec uting ho me posit ion ret urn. (b) Ho m e po sition re turn retry function cannot be u s e d in the stoppe r type 1. (c) S et the tor que lim it va lue aft er reach ing the creep[...]

6 - 216 6 POSITIONING CONTROL 6.23.11 Home positi on return by the stopper type 2 (1) Stopper ty pe 2 Posit ion of stopper is hom e pos ition in this m ethod. It tra vels the d irection s et in the "hom e position return directi on" with th e "cre ep speed ", and it press es agains t the sto pper an d mak es to st op with th e &[...]

6 - 217 6 POSITIONING CONTROL (c) Se t the torque li mit value at the reachi ng creep spee d for syste m . W hen the torqu e lim it value is too large, s ervom otors or mac hines ma y be damage d after pres sing the stop per. Als o, when the torq ue limit va lue is too small , it becom es the torque limiting bef ore press ing the stop per and ends [...]

6 - 218 6 POSITIONING CONTROL 6.23.12 Home posi tion return by the limit switch combined type (1) Limi t s w itch combined type The prox im ity dog is not used in this m ethod. Home position r eturn c an be execu ted by us ing the exter nal upper /lower limit s witch. W hen the hom e position return is start ed, it tr avels t o direc tion of home p[...]

6 - 219 6 POSITIONING CONTROL (4) Cauti ons (a) F or the ax is wh ich exec utes the home p osition r eturn b y the l imit switc h com bined t y p e, if the extern al input s ignal has not s et in th e system settin gs, a minor error "the pos itionin g contro l which use t he exte rnal in put sign al was execu ted for t he axis which has not s [...]

6 - 220 6 POSITIONING CONTROL 6.23.13 Home posi tion return retry function W hen a work h as bee n excee ded hom e pos ition during positio ning c ontrol , etc., even if it exec utes the hom e positio n r eturn, de pending on the positio n of work, a work may not t ravel to home p osition di rection. I n this case, a w ork is normally travelle d be[...]

6 - 221 6 POSITIONING CONTROL (2) Hom e posit ion ret urn retr y operati on setti ng a work outsid e the ra nge of external lim it switc h (a) W hen the directi on of "wor k hom e posi tion" an d hom e positio n retur n is sam e, normal home p ositio n return is oper ated. Directi on of "work home posit ion" and home position re[...]

6 - 222 6 POSITIONING CONTROL (3) Dwell tim e set ting at the h ome pos ition r eturn r etr y Revers e oper ation b y detect ion of the extern al up per/low er limit s witch a nd dwe ll time f unctio n at the h ome p osition r eturn s tart af ter sto p by pr oximit y dog OFF are pos sible with the dwell t ime at th e hom e position return r etry in[...]

6 - 223 6 POSITIONING CONTROL (2) Mak e a s ystem f or whic h does n ot execu te the s ervo am plifier power of f or ser vo OFF b y the ext ernal u pper/l ower lim it switch . Hom e positio n retur n retr y cannot be execu ted onl y in the s tate of servo O N. (3) Dec elerat ion is m ade by detecti on of the externa l lim it switch and tra vel to r[...]

6 - 224 6 POSITIONING CONTROL 6.23.14 Home positi on shift function Norm ally, whe n the m achine h ome pos ition r eturn is execut ed, a p osition of hom e posit ion is set b y using t he prox imit y dog or zero point s ignal. H owever, by us ing the home pos iti on shift f unct ion, the posit ion to which on ly the s pecif ied tra vel va lue was [...]

6 - 225 6 POSITIONING CONTROL [Control detail s] (1) Hom e pos ition sh ift ope ration Oper ation for th e home positio n shift fun ction is shown below . Home position shift amount is positive value Home position return direct ion Ho me positi on return speed Creep speed Home p osition return start Proximity dog Travel value after prox i mity dog [...]

6 - 226 6 POSITIONING CONTROL (2) Setting r ange of hom e posit ion sh ift amou nt Set t he hom e positio n shif t amount within the ran ge of f rom the detected zero signa l to exter nal upper /lower limit s witch (FL S/RLS). If the range of externa l upper/ lower l imit sw itch is exceeded , a m ajor error "exter nal lim it switc h detect io[...]

6 - 227 6 POSITIONING CONTROL (b) Ho m e po sition shi ft operat ion with th e "creep spe ed" V Home position return d irection Creep speed Home position return start Home p osition Home position Proximity d og Zero point Home position shift amount is positive Home p osition s hift amount is negative Fig. 6.49 Oper ation f or home positio[...]

6 - 228 6 POSITIONING CONTROL 6.23.15 Condition sele ction of home position set A hom e positi on retur n must be made after t he servom otor h as been r otated m ore th an one re volutio n to pass the a xis throu gh the Z-phase (motor referenc e pos ition sign al) and the zero p ass si gnal (M24 06+20n) has b een tur ned ON. W hen "1 : Not ne[...]

6 - 229 6 POSITIONING CONTROL 6.23.16 Serv o program for home p osition return The hom e posi tion retur n exec uted us ing the ZERO ser vo instruc tion. Items set b y peripheral devices Commo n Arc Pa ramete r block Other s Servo in struction Posi tioning m ethod Number o f contr ollable ax es Para meter bl ock No. Axis Addr ess/trav el valu e Com[...]

6 - 230 6 POSITIONING CONTROL (2) Serv o program example Serv o program No. 0 f or hom e posit ion ret urn is s hown be low. Axis used . . . Axis 4 ZERO Home position return Axis 4 <K 0> (3) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 ZERO Axis 4 PX000*M2475*M2462 Home position [...]

6 - 231 6 POSITIONING CONTROL 6.24 High- Speed Oscillation Posit ioning of a spec ified ax is is caused to osc illate o n a sine wave. Ite ms set by peripher als Commo n OSC Pa ramete r bl ock Oth ers Servo in struction Posi tioning m ethod Number o f contr ollable ax es Para meter bl ock No. Axis Addr ess/trav el valu e Comman d s p eed Dwell tim [...]

6 - 232 6 POSITIONING CONTROL [Cautions] (1) If the am plitude s ettin g is outs ide the range, the ser vo progr am setti ng error [25] occurs and oper ation d oes not start. (2) If the st arting a ngle sett ing is outsid e the ra nge, th e servo pr ogram setting er ror [26] oc curs and operat ion does not st art. (3) If the fr equenc y setting is [...]

7 - 1 7 7 AUXILIA RY AND APP LIED FUNCTIONS 7. AUXILI ARY AND APPLIED FUNCTIONS This sectio n descr ibes th e auxi liar y and app lied f unction s for pos itioni ng co ntr ol in t he Multip le CPU system . 7.1 M-code Output Fun ction M-cod e is a code No. betwe en 0 and 3276 7 which can b e set for ever y p ositioni ng contr ol. During positi oning[...]

7 - 2 7 AUXILIA RY AND APP LIED FUNCTIONS (c) W hen th e M-code is read at posit ionin g compl etion, us e the p osition ing com plete sign al (M24 01+20n) as the r ead comm and. At the posit ion contr ol or s peed c ontrol Dwell time Storage of s etting M-c ode No. M-code Positioning complete signal (M 2401+20n) Start accept flag (M2001 +n) Servo [...]

7 - 3 7 AUXILIA RY AND APP LIED FUNCTIONS (4) Pr ogram example (a) Th e Motion SF C program to re ad M-code s i s shown as th e followin g condit ions. 1) Axis us ed No. ......... ......... .......... .......... ... Axis 3 2) Proc essin g at the p ositio ning start by M-c ode ....... .......... ... M-cod e No. is output as BCD code to Y1 10 to Y11F[...]

7 - 4 7 AUXILIA RY AND APP LIED FUNCTIONS 7.2 Backlash Compens ation Function This functio n compens ates f or the bac klash amount in the m achine s ystem . W hen the back lash com pensation amou nt is se t, extra f eed pu lses eq uivalent t o the b acklash com pensation am ount set up whe never the travel direct ion is ge nerated at th e posit io[...]

7 - 5 7 AUXILIA RY AND APP LIED FUNCTIONS (2) Backlash compen sation processing Details of back lash com pensati on proces sing ar e sho wn below. Table 7.2 Detail s of b acklash compensation processi n g Condition Processing First start after power on • If travel direction is equal to home position return direction, th e backlash compensati on i[...]

7 - 6 7 AUXILIA RY AND APP LIED FUNCTIONS 7.3 Torque Limi t Function This functio n restricts the generating torq ue of the s ervom otor with in the s etting r ange. If the torque r equir ed for c ontrol excee ds the t orque limit va lue dur ing pos itioni ng contr ol, it res tricts with the setting torque l imit va lue. (1) Setting r ange of the t[...]

7 - 7 7 AUXILIA RY AND APP LIED FUNCTIONS Setti ng for th e torque limi t value wit h the cons tant-speed control ( CPS TART 1) (1) Ser vo program Se ttin g item s of th e parameter block Parameter b lock 3 (P.B.3) setting at the star t Torque setting from the pass point (2) Parameter block Torq ue limi t value setting (3) Operat ion descr iption 0[...]

7 - 8 7 AUXILIA RY AND APP LIED FUNCTIONS 7.4 Skip Function in w h ich D isregards Stop Command W hen the curre nt pos itionin g is sto pped b y input fr om exter nal sourc e and t he next posit ioning contro l is per form ed, it e nables s tart ing of th e next positio ning c ontrol even if the input f rom ex ternal so urce is on (cont inuat ion).[...]

7 - 9 7 AUXILIA RY AND APP LIED FUNCTIONS (2) O peratio n tim ing The op eration timing f or the skip f unction is shown below. Positioning start of the n ext servo prog ram by s kip fun ction A (The exte rnal STOP s ignal is igno red durin g M3209+20n is on.) Decele ration stop b y STOP input Pos itioni ng to po int A Positioning start to poin t A[...]

7 - 10 7 AUXILIA RY AND APP LIED FUNCTIONS 7.5 Cancel o f the Serv o Program This functio n perfor ms a d ec eler at ion s top of execu ting ser vo pro gram dur ing exe cution by tu rning on the cancel s ignal. [Control deta ils] (1) W hen the cance l signal is turn ed on dur ing ex ecutio n of a pr ogram for whic h the cance l has been sp ecified [...]

7 - 11 7 AUXILIA RY AND APP LIED FUNCTIONS 7.5.1 Cancel/start W hen a cancel/start has been set in the set ting item s of the servo program which was started at the m otion control s tep of the Moti on SFC progr am, the cance l of the running ser vo program is vali d but the serv o program specified to s tart after a cancel is ignored, without bein[...]

7 - 12 7 AUXILIA RY AND APP LIED FUNCTIONS MEM O[...]

APP - 1 A PPENDICES APP. APPENDICES APPENDIX 1 Error Codes St ored Using Th e Motion CPU The s ervo pro gram sett ing e rrors an d posit ioning er rors are detec ted in t he Mot ion CPU side . (1) Serv o program setting err ors Thes e are pos itioni ng data errors se t in th e servo program , and it c heck s at the start of the eac h ser vo progr a[...]

APP - 2 A PPENDICES (b) T he error detect ion sig nal of th e erron eous ax is tur ns on at t he error occurr ence, a nd the er ror cod es are st ored in the m inor error c ode, m ajor error c ode or servo err or co de storage regis ter. Table 1.1 Err or code storage registers, err or d etection sig nals Error code storage regist er De vice Error c[...]

APP - 3 A PPENDICES APPENDIX 1.1 Se rvo prog ram setting e rr ors (Stored in D 9190) The err or codes , error c ontents and cor rectiv e actions for ser vo progr am sett ing err ors are s hown in T able 1. 2. In the error codes mar k e d with "N ote" indi cates th e axis No. ( 1 to 32). Table 1.2 Serv o program setting error lis t Error c[...]

APP - 4 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in D9190 Error nam e E rror contents Error proc essing Corr ective act ion (1) The auxiliary point address is outside t he setting range at the positi oning start for abs olute data met hod. Unit Addres s setti ng range degree 0 to 35999999 10 -5 [degre[...]

APP - 5 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in D9190 Error name Error c ontents Error proc essing Correcti ve action 15 Rapid stop decelerati on time setti ng error The rapid stop decelerati on t ime is set t o "0". Control with the default value "1000". Set the rapid stop dec[...]

APP - 6 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in D9190 Error nam e Error cont ents Error proc essing Correcti ve action 27 High-Speed oscillat ion command frequency error Operation cannot be started because t he frequency speci fied w ith the high-speed oscillation function is outsi de the range of[...]

APP - 7 A PPENDICES APPENDIX 1.2 Minor errors These er rors ar e detec ted in t he PLC pr ogram or serv o program , and the error codes of 1 to 999 are us ed. Minor errors i nclude t he sett ing dat a errors, s tarti ng erro rs, posit ioning c ontrol errors and cur rent value/sp eed ch ange err ors an d system error s. (1) Set ting data errors (1 t[...]

APP - 8 A PPENDICES (2) Positi onin g contr ol start errors (100 to 199) Thes e errors ar e detec ted a t the pos itionin g contr ol start. The err or cod es, caus es, pr ocessing , and cor rectiv e actio ns are sh own in Table 1.4. Table 1.4 Positioni ng control start error (100 to 199) list Control m ode Error code Positioning Fixed-pitch feed Sp[...]

APP - 9 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-speed JOG Manual pulse gene rator Home position return Position follow-up co n trol OSC Speed control wi th fixed position stop Error caus e Er[...]

APP - 10 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-speed JOG Manual pulse gene rator Home position return Position follow-up co n trol OSC Speed control wi th fixed position stop Error caus e E[...]

APP - 11 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-speed JOG Manual pulse gene rator Home position return Position follow-up co n trol OSC Speed control wi th fixed position stop Error caus e E[...]

APP - 12 A PPENDICES (3) Positi onin g contr ol errors (200 to 299) Thes e ar e errors detected d uring the pos itioni ng contro l. The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.5. Table 1.5 Positioni ng control error (200 to 299) list Control m ode Error code Positioning Fixed-pitch feed Speed Speed/positio[...]

APP - 13 A PPENDICES Table 1.5 Po sitioning cont rol e rror (200 to 299) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-speed JOG Manual pulse gene rator Home position return Position follow-up co n trol OSC Speed control wi th fixed position stop Error caus e Error p[...]

APP - 14 A PPENDICES Table 1.5 Po sitioning cont rol e rror (200 to 299) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-speed JOG Manual pulse gene rator Home position return Position follow-up co n trol OSC Speed control wi th fixed position stop Error caus e Error p[...]

APP - 15 A PPENDICES (4) Curr ent value/speed change error s (300 to 399) Thes e are err ors detec ted a t current value c hange or spee d change . The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.6. Table 1.6 Cur rent value/speed change error (300 to 399) lis t Control m ode Error code Positioning Fixed-pitch [...]

APP - 16 A PPENDICES (5) System err ors (900 to 999) Table 1.7 Sy stem error (900 to 999) li st Control m ode Error code Positionin g Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-speed JOG Manual pulse gene rator Home position return Position follow-up co n trol OSC Speed control with fixed position stop Error caus e Er[...]

APP - 17 A PPENDICES APPENDIX 1.3 Majo r err ors These er rors oc cur b y control comm and from the exter nal input s ignal or Moti on SFC program , and t he error codes 1000 to 1 999 are used. Major errors inclu d e the positionin g co nt rol s ta rt errors, po s itionin g control errors, absolute position s ystem err ors and system errors. (1) Po[...]

APP - 18 A PPENDICES (2) Positi onin g contr ol errors (1100 to 1199) Thes e errors ar e detec ted a t the pos itionin g contr ol. The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.9. Table 1.9 Positi oning control error (1100 to 11 99) list Control m ode Error code Positioning Fixed-pitch feed Speed Speed/posit[...]

APP - 19 A PPENDICES (3) Absolute position syst em errors (1200 to 1299) Thes e er rors are det ected a t th e absolut e positio n system . The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.10. Table 1.10 Absolute position system err or (120 0 to 129 9) list Control m ode Error code Positioning Fixed-pitch feed [...]

APP - 20 A PPENDICES (4) System er rors (1300 to 1399) These er rors ar e detec ted at the power -on. The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.11. Table 1.11 Sy stem error (1300 to 1399) li st Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constant-[...]

APP - 21 A PPENDICES APPENDIX 1.4 Se rvo errors (1) Serv o amplifier errors (2000 to 2899) Thes e errors ar e detec ted b y the ser vo am plifier , and th e error c odes ar e [2000] to [289 9]. The s ervo error detect ion si gnal (M 2408+2 0n) turns on at the ser vo am plifier error occurre nce. El iminat e the er ror caus e, res et the s ervo am p[...]

APP - 22 A PPENDICES Table 1.12 Serv o error (2000 to 2899) list Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Power supply voltage is l ow. MR-J 3-  B: 160VAC or less MR-J 3-  B1: 83 VAC or less MR-J 3-  B4: 280 VA C or less • There was an inst antaneous cont rol power failu re of 60[ms] [...]

APP - 23 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Encoder c onnector (CN2) dis connect ed. • Connect c orrectly. • Encoder f ault • Rep lac e the s ervomotor. • Encoder c able faulty (Wire breakage or s horted) • Re[...]

APP - 24 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Mac hi ne s t ruck . • Check the mac hine. • A ccuracy at initial magnetic pole detection is bad. • Review th e parameter No.PS 09 setti ng (magnetic pole det ection vol[...]

APP - 25 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • W rong setting of syst e m setti ng (regenerat ive brake) • Check t he regenerative brak e of system setting and set correc tly. • Built-i n regenerative brak e resistor o[...]

APP - 26 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Short occ urred in servom otor power (U, V, W). • Correct the wiring. • Transist or (IPM) of the servo am plifier faulty . [Checki ng method] Servo error [ 2032] occurs if[...]

APP - 27 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Linear enc oder signal resolut ion dif fes from the s etting value. • Review th e settings of parameter No.PS02 and P S03 setting (linear enc oder resoluti on). • Check t [...]

APP - 28 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Servo am plifier f ai lur e • Replace the s ervo amplif ier. • The power suppl y was turned on and off continuous ly by overloaded s tatus. • The drive m ethod is review[...]

APP - 29 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check E rror processing Correc tive action • Machine st ruck somet hing. • Review ope ration pattern. • Install li m it sw itches. • W rong connec tion of s ervomotor. (S ervo ampli fier's output terminals U,[...]

APP - 30 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name D escript ion Error check Error processing Correc tive action • The speed of li near encoder has exceeded the range of use. • Change the s peed of linear encoder within t he range of use. • Noise entered. • Take the noise reduc tion [...]

APP - 31 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name D escript ion Error check Error processing Correc tive action • Ambi ent temperature of servom otor is over 40[° C] (104[°F]). • Review envi ronment s o that ambient temperature is 0 t o 49[°C] (32 t o 104[°F ]). • Servom otor is o[...]

APP - 32 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check E rror processing Corrective action Param eter error • The s ervo parameter value is outside the setting range. (Any unauthori zed para m eter is ignored and the value before setting i s held.) Error code Param ete[...]

APP - 33 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No. Nam e 2336 PB 17 For m anufacturer set ting 2337 PB18 Low-pass filter 2338 PB19 Vibration s uppression cont rol vibration f requency sett ing 2339 PB20 Vib[...]

APP - 34 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No. Nam e 2367 PC03 Encoder output pulses selecti on 2368 PC04 Funct ion selecti on C-1 2369 PC05 Funct ion selecti on C-2 2370 PC06 For m anufacturer set ting[...]

APP - 35 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error c heck Error processing Corrective acti on Error code Param eter No. Nam e 2407 PD11 Input filt er setting 2408 PD12 For manufact urer setting 2409 PD13 For m anufacturer s etting 2410 PD14 Function selec tion D-3 2411 PD1[...]

APP - 36 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check E rror processing Corrective action Ini tial paramet er error • The parameter setting is wrong. • The param eter data w as corrupted. Error code Param eter No. Nam e 2601 PA01 For m anufacturer s etting 2602 PA02[...]

APP - 37 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No. Nam e 2636 PB 17 For m anufacturer set ting 2637 PB18 Low-pass filter 2638 PB19 Vibration s uppression cont rol vibration f requency sett ing 2639 PB20 Vib[...]

APP - 38 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No. Nam e 2667 PC03 Encoder output pulses selecti on 2668 PC04 Funct ion selecti on C-1 2669 PC05 Funct ion selecti on C-2 2670 PC06 For m anufacturer set ting[...]

APP - 39 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name D escript ion Error check Error processing Corrective action Error code Param eter No. Nam e 2707 PD11 I nput filter s etting 2708 PD12 For m anufacturer s etting 2709 PD13 For manuf acturer sett ing 2710 PD14 Func tion select ion D-3 2711 P[...]

APP - 40 A PPENDICES APPENDIX 1.5 PC link communication er rors Table 1.13 PC li nk communication error codes li st Error codes stor ed in D9196 Error descriptio n Corrective act ion 01 • A receiving packet for PC link communic ation does not arrive. • The arrival timing of t he receiving p acket is too late. • Check w hether the power of PC [...]

APP - 41 A PPENDICES APPENDIX 2 Speci al Rel a ys /special registers APPENDIX 2.1 Special relays Speci al rela ys are i nternal r ela y s whose a pplicat ions ar e fixe d in the Motion C PU. F or this re ason, the y c annot be us ed in the sam e way as the norm al interna l r elays b y t he Motion SF C program s. However, they c an be turne d ON/OF[...]

APP - 42 A PPENDICES Table 2.1 Special r elay list No. Name Meanin g Details Set by (W hen set) Remark M9000 Fu se blow n d etectio n OFF : Normal ON : Fuse bl own mo dule detect ed • Tur n on when ther e is on e or m ore out put mo dules c ontrol of se lf CPU which fu se has bee n blown. Rema ins on if nor mal status is restored . • Tur n on i[...]

APP - 43 A PPENDICES Table 2.1 Special r elay list (continued) No. Name Meaning Details Set by (W hen set) Remark M90 77 Manual pulse ge nerator axis setting e rror flag ON : At least one D71 4 to D719 se tting is abnorm al. OFF : All D71 4 to D71 9 settin gs ar e normal . • T his flag indi cates w hether the s etting desi gnated a t the manual p[...]

APP - 44 A PPENDICES APPENDIX 2.2 Special regist ers Special r egisters are internal r egisters whose applic ations ar e fixed in t he Motion CPU. For this r eason, it is not poss ible to use thes e registers in Motion SFC progr ams in the s ame way that normal regis ters are us ed. However, data can be written as n eeded in order to co ntrol the M[...]

APP - 45 A PPENDICES Table 2.2 Special register list No. Name Meaning Details Set by (W hen set) Remark D900 0 Fu se b lo wn No. Mod ule No. wit h blow n fuse • W hen fuse bl own m odules a re detect ed, th e lowes t I/O mo dule No . is sto red in D9 000. D900 5 AC/ DC DOWN counte r No. Numbe r of times for AC /DC DOW N • 1 is adde d to the s t[...]

APP - 46 A PPENDICES Table 2.2 Special register list (conti nued) No. Name Meaning Details Set by (W hen set) Remark D902 6 Clock data (Day , hour) • Sto res th e day an d hour in BCD . B15 B12 to B11 B8 to B7 B4 to B3 B0 to Day Hour Example : 31st, 10 a.m. H3110 D902 7 Clock data Clock data (Minut e, secon d) • Stor es the minu te and second i[...]

APP - 47 A PPENDICES Table 2.2 Special register list (conti nued) No. Name Meanin g Details Set by (W hen set) Remark D918 8 Moti on operat i o n cyc le Moti on operat ion cyc le • Th e time when th e motion operati on cycle is stor ed in t he [ µ s] unit. S(Op eration cy cle) D918 9 Error pro gram No. Erro r program No. of serv o program W hen [...]

APP - 48 A PPENDICES APPENDIX 3 E x ample Programs APPENDIX 3.1 R eading M- code The pro gram ex ample for read ing M-c ode at th e com pletion of posit ioning s tart or posit ioning is sho wn bel ow. The j udgement of the positi oning st art com pletion and pos itioni ng com pletion is mad e with t he following signals. • Posit ioning sta rt com[...]

APP - 49 A PPENDICES APPENDIX 3.2 Reading error code The pro gram example for re ading er ror cod e at the error oc currenc e is s hown bel ow. The fol lowing sign als are us ed to determ ine whether or not an error has occurre d: • Minor errors , major error s ………. Error det ection signal (M2407+ 20n) • Servo errors ……… ………?[...]

APP - 50 A PPENDICES [Program Exam ple] (1) A program that ou tputs each err or code to PY000 t o PY0 0F (minor error) , PY01 0 to PY0 1F (maj or error) and PY0 20 to PY0 2F (ser vo err or) after convers ion int o BCD code at the error occ urrence with axis 1 is sh own belo w. QY40 Moti on SFC progr am Q61P Q17 2 LX Q172H CPU M240 7 PY000 to PY00F [...]

APP - 51 A PPENDICES APPENDIX 4 Setting Range for Indirect Setting De v ices Posit ioning a ddress, c omman d speed or M-c ode, etc. (exclu ding the axis N o.) set in the ser vo progr am c an be set indirect ly by th e word. (1) De v ice range The num ber of device words an d devic e range at indir ect sett ing are shown belo w. Item Number of devi[...]

APP - 52 A PPENDICES (2) Inputting device data Indirec t sett ing dev ice data is inpu tted b y the Mot ion CPU a t the ser vo progr am start. Do not c hange the appl icabl e devic e before setting to dev ice and s tart comple tion. The proc edures by st art met hod for se tting d ata to devices and cau tions ar e shown be low. Start method Setting[...]

APP - 53 A PPENDICES APPENDIX 5 Processi ng Times o f the Moti on CPU The proc essi ng time of each s ignal a nd each instruc tion f or positi oning c ontrol in the Mult iple C PU sys te m is s ho wn be low . (1) Moti on operation cycle [ms] (Default) Q173HCPU Q172HCPU Number of setti ng axes (SV22) 1 to 5 6 to 14 15 to 28 29 to 32 1 to 5 6 to 8 Nu[...]

APP - 54 A PPENDICES (3) Axis stat us list Axis No. Device No. S ignal name 1 M 240 0 to M2419 2 M 242 0 to M2439 3 M 244 0 to M2459 Signal name Refresh cycle Fetch cycle Signal directi on 4 M 246 0 to M2479 0 P ositioning s tart complete 5 M 248 0 to M2499 1 P ositioning c o m plete 6 M 250 0 to M2519 2 I n-position 7 M 252 0 to M2539 3 Com mand i[...]

APP - 55 A PPENDICES (4 ) Axis command signal lis t Axis No. Devic e No. Signal nam e 1 M3200 to M3219 2 M3220 to M3239 3 M3240 to M3259 S ignal name Refres h cycle Fetc h cycle Si gnal directi on 4 M32 60 to M3 279 0 Stop c o m mand 5 M32 80 to M3 299 1 Rapid s top command Operation cycle 6 M3300 to M3319 2 Fo rwar d r ota ti on J OG st ar t com m[...]

APP - 56 A PPENDICES (5) Common dev ice list De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No. Signal nam e Refr es h cycle F etch cycle Signal direct ion Remark (Note-5) M2000 PLC r eady flag Mai n cycle Command signal (Note-4) M3072 M2053 Manual pul se generator 3 enable f lag Main cycle Command si[...]

APP - 57 A PPENDICES Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-4) De vice No. Signal nam e Ref res h cycle Fetch cycle S ignal direct ion Remark (Note-4) M2119 M2180 Main shaf t side M2120 M2121 M2181 Output axi s 11 Auxil iary input side M2122 M2182 Main shaf t side M2123 M2[...]

APP - 58 A PPENDICES Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fet ch cycle S ignal direct ion Remark (Note-5) De vice No. Signal nam e Ref res h cycle Fetc h cycle Signal direct ion Remark (Note-5) M2229 M2276 Axis 5 M2230 M2277 Axis 6 M2231 M2278 Axis 7 M2232 M2279 Axis 8 M2233 M2280 Axis 9 M2234 M2281 Axis 10 M2235[...]

APP - 59 A PPENDICES (6) Special relay allocated device l ist (Status) Device No. S ignal name Ref resh cycle Fetch c ycle S ignal directi on Rem ark (Note) M2320 Fuse bl own detection M9000 M2321 AC/ DC DOWN detect ion M90 05 M2322 Batt ery low M90 06 M2323 Bat tery low latch M90 07 M2324 Self -diagnostic error M9008 M2325 Diagnost ic error Error [...]

APP - 60 A PPENDICES (7) Common dev ice list (Command si gnal) Device No. Signal nam e Refresh c ycle Fet ch cycle Si gnal direction Rem ark (Note-1), (Note-2) M3072 PLC ready fl ag Main cycle M2000 M3073 Speed switc hing point designat ion flag At start M2040 M3074 All axes s ervo ON command Operat ion cycle M2042 M3075 Real/virt ual mode c hange [...]

APP - 61 A PPENDICES (9) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 Signal nam e Refresh cycl e Fetch cycle Unit S ignal directi on 4 D60 to D79 0 5 D80 to D99 1 Feed current val ue 6 D100 t o D119 2 7 D120 t o D139 3 Real current value Comm and unit 8 D140 t o D159 4 9 D160 t o D179 5 Devi ation [...]

APP - 62 A PPENDICES (10) Contr ol change register list Axis No. Devic e No. Signal nam e 1 D640, D641 2 D642, D643 3 D644, D645 Signal name Refresh cycle Fetc h cycle Unit Signal directi on 4 D646, D647 0 5 D648, D649 1 JOG speed s etting At start C ommand unit Comm and device 6 D650, D651 7 D652, D653 8 D654, D655 9 D656, D657 10 D658, D659 11 D6[...]

APP - 63 A PPENDICES (11) Common dev ice list Device No. Signal name Refresh cycle Fe tch cycle Sign al direction Device No. Signal name Refresh cycle Fe tch cycle Sign al direction D704 PLC ready f lag request D752 Manual pulse generator 1 smoothing m agnification setting regi ster D705 Speed swi tching point specified flag req uest D753 Manual pu[...]

APP - 64 A PPENDICES (12) Mot ion registe r list (# ) Axis No. Device No. Signal name 1 #8064 to #8067 2 #8068 to #8071 3 #8072 to #8075 4 #8076 to #8079 Signal nam e (Note-1) Si gnal description Refres h cycle Si gnal directi on 5 #8080 to #8083 6 #8084 to #8087 7 #8088 to #8091 8 #8092 to #8095 9 #8096 to #8099 +0 Servo ampl ifier type 0 : Unused[...]

APP - 65 A PPENDICES (13) Special relay list Device No. Signal nam e Refresh c ycle Signal t ype M9073 PC PU W DT er ror fl ag M9074 P CPU REDAY com pl ete f lag M9 075 TEST m ode ON flag M9 076 External forced stop input flag M9 077 Manual pulse generator axis setti n g error f lag M9 078 TEST mode request error flag M9 079 Servo program setti ng [...]

WA RRA NTY Please confir m the follow ing product w arranty details bef ore using this product. 1. Gratis W arranty Term and G ratis Warranty Rang e If any faults or defects (here inafter "Failure ") found to be the respo nsibility of M itsubishi occ urs during use of the product within the grati s warranty term, the produ ct shall b e re[...]

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